Outdoor Localization for Quad-Rotor Using Extended Kalman Filter and Path Planning

Abstract

This paper proposes a new technique that can be used to produce improved localization accuracy and to remove out the noises in sensing when the low-cost GPS/INS system has been used for a quad-rotor. The level of localization accuracy could be worse when the quad-rotor flies through the air by forming a curve. Also, the accuracy is influenced by the performance of GPS/INS system. The location data by the GPS/INS system include high frequency noises caused by various factors such as measurement noises and external disturbances. When the quad-rotor flies outdoor, it is possible to estimate the moving path for a short interval since the path can be assumed to be straight for a short interval. Therefore, the extended Kalman filter has been adopted to improve the localization accuracy. Also the global path can be more precisely estimated by fitting the location data obtained by the GPS/INS system to the planned path. Through the foregoing processes of the extended Kalman filter and path planning algorithm, the improved localization information can be obtained when the quad-rotor flies. Performance improvement of the proposed system has been verified based on various outdoor experiments.