Abstract
In this paper, the hybrid navigation system using Kalman filter is suggested. The hybrid navigation system consists of GPS to measure the position and the velocity of the mobile robot, and IMU to measure the posture and acceleration. The location of the mobile robot is calculated by applying Kalman filter, using the received data of the position and the velocity of the mobile robot from GPS when GPS signal is received, and the data of the acceleration which is received from IMU. The Hybrid navigation system calculates the position of a mobile robot by using acceleration and posture of IMU, and former velocity data of GPS until next the GPS signal is received. The performance of the hybrid navigation system was confirmed through the experiment comparing the actual route and the calculated route, where the calculated route of the simplified hybrid navigation system is the same with the actual route.
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