Lg Electronics Inc.

Seoul National University

Yonghwan Bae

Wonjun Choi

Jaehwan Ko

O Jong Kim

Jungbeom Kim

Chang Don Kee

Seungbae Jung

Yunhee Park

A method for estimating a multipath error of a pseudo-range measurement value, comprising obtaining satellite navigation system information including a pseudo-range measurement value and a carrier phase measurement value; obtaining a time-differenced carrier phase (TDCP) measurement value by differentiating the carrier phase measurement value with respect to time; setting a monitoring variable for multipath error estimation by using the TDCP measurement value; detecting a change in multipath error using the monitoring variable, and determining a time period usable to estimate the multipath error; and estimating the multipath error at a specific time point using the change relative to a reference time. Accordingly, the location of a target can be precisely determined even in a downtown environment with severe signal distortion, by estimating the multipath error included in the pseudo-range measurement value, and compensating for or excluding the multipath error.

Method for estimating multipath error of pseudo-range measurement value, and positioning method using same

The present disclosure provides a mobile robot. The mobile robot includes a body, a pair of spin mops rotatably mounted to the body, a mop motor configured to provide a driving force to the pair of spin mops, an optical flow sensor configured to obtain bottom-view image information using light at a regular time interval, and a controller configured to determine whether the material of the floor is a troublesome material based on the bottom-view image information sensed by the optical flow sensor and to control, upon determining that the material of the floor is a troublesome material, the mop motor to perform an entry restriction operation.

Mobile robot

Growing community of inventors

Seoul, South Korea

Yonghwan Bae