This paper deals with a positioning system for an autonomous vehicle ARSKA. Localization of the vehicle is based on Jusion oj internal dead reckoning navigation and periodic absolute position measurements. Fusion is perJormed by using a Kalman-type filtering technique. A similar kind oj approach is used in correcting the heading measurement. This is important because the position error is mostly the result oj the accumulated heading error. The resulting accuracy depends on the accuracy oj the dead reckoning estimation and on the accuracy and Jrequency oj the absolute position measurement. As an absolute position measurement system, several alternatives can be used. Two different systems have been used with the vehicle: an external optical measurement device, tachymeter, and different combinations oj DGPS. A real guarding application will be discussed in the paper.
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