Title: Unmanned Ground Vehicle Positioning System by GPS/Dead-Reckoning/IMU Sensor Fusion
Abstract: Real-time positioning system is critical for control and navigation of unmanned ground vehicles.In this paper, we present a low-cost integrated GPS/DR/IMU positioning solution.A two-level adaptive Kalman Filter based algorithm is introduced to fuse sensor signals.Experimental results demonstrate a much better performance with accurate and robustness output even during short-time GPS signal drop-out.