Accession Number:

ADA282853

Title:

A 3D State Space Formulation of a Navigation Kalman Filter for Autonomous Vehicles

Descriptive Note:

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

Report Date:

1994-05-02

Pagination or Media Count:

95.0

Abstract:

The Kalman Filter has many applications in mobile robotics ranging from perception, to position estimation, to control. This report formulates a navigation Kalman Filter. That is, one which estimates the position of autonomous vehicles. The filter is developed according-to the state space formulation of Kalmans original papers. The state space formulation is particularly appropriate for the problem of vehicle position estimation. This filter formulation is fairly general. This generality is possible because the problem has been addressed

Subject Categories:

  • Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE