M. Méndez, R. Soto, and J.L. Gordillo (Mexico)
GPS, Kalman Filter, Fuzzy Tuner, Automated Guided
In this paper a methodology for integration of a Kalman
Filter and a Global Positioning System (GPS) is presented
to estimate the position of an autonomous vehicle. To
further improve the estimation of the position given by
the integration of the GPS and the Kalman Filter, a fuzzy
system (Kalman Fuzzy Tuner) is designed which notably
reduce the RMSE of the position coordinates, i.e.,
latitude, altitude and longitude. Using experimental
characterization of the position and error of the GPS and
the equations of the Kalman filter, simulations are carried
out to test the feasibility of the proposed integration.
Simulation results showed better performance of KF-GPS
with the Kalman Fuzzy Tuner.