Outdoor localization of quad-rotor using extended Kalman filter and cell division algorithm

Abstract

This paper proposes a new technique that produces the improved local information using low-cost GPS/INS system combined by Extended Kalman Filter and Cell Division Algorithm when a Quad-rotor flies. Throughout the research, the low-cost GPS is combined with INS by using extended Kalman filter in order to improve local information. However, this system has the disadvantage that the level of precision for the position information is influenced by the performance of GPS. In order to deal with such disadvantages, the algorithm based on cell division can be adopted. When the quad-rotor flies outdoor, it is possible to predict that its moving path is short, since all the short moving paths of the quad-rotor can be assumed to be straight. Cell division algorithm is used to make such a short moving path and determine the closest local information of the GPS/INS system. Through the above process, an improved kind of local information can be obtained when the quad-rotor flies. Also, the performance of the proposed system can be verified based on various outdoor experiments.