Pose estimation of Ackerman steering vehicles for outdoors autonomous navigation

This paper presents a localization scheme for Ackerman steering vehicles, to be used in outdoors autonomous navigation, using a low cost GPS and inclinometer. A complementary filter fuses the bearing from the inclinometer with the bearing of the GPS. We then use an Extended Kalman Filter to estimate the pose of the vehicle and the sensor biases. We validate our system with experimental results.