High Precision GNSS Guidance for Field Mobile Robots

[摘要] In this paper, we discuss GNSS (Global Navigation Satellite System) guidance for field mobile robots. Several GNSS systems and receivers, as well as multiple measurement methods and principles of GNSS systems are examined. We focus mainly on sources of errors and investigate diverse approaches for precise measuring and effective use of GNSS systems for real-time robot localization. The main body of the article compares two GNSS receivers and their measurement methods. We design, implement and evaluate several mathematical methods for precise robot localization.

[学科分类] 自动化工程

[关键词] GNSS;localization;mobile robot;GPS;RTK-GPS;Kalman filter;moving average filter