Fault-Tolerant 3D Localization for Outdoor Vehicles

Abstract

This paper presents a robust Kalman-based localization for outdoor vehicles. Outdoor vehicles require a fault-tolerant system that can manage temporary unavailable sensor measurements. The sensor system of the vehicle consists of odometry, inertial measurement unit (IMU) and differential global positioning system (DGPS) receiver. The system allows full 3D localization including position, attitude and velocities. Final experiments showed the localization and navigation capabilities of the outdoor robot RAVON