Abstract
This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests.
Highlights
Global Navigation Satellite System (GNSS)-RTK Receivers for ReliableAcquiring accurate and reliable three-dimensional (3D) coordinates for a vehicle is of great interest in monitoring its operation for advanced driver assistance systems and for autonomous navigation of mobile robots
A common possibility is the use of an Inertial Measurement Unit (IMU), which contain different sensors such as accelerometers, gyroscopes and magnetometers [2]
This paper proposes a reliable sensor system that provides the position and posture of a vehicle by combining the measurements of four identical GNSS-RTK low-cost receivers
Summary
Acquiring accurate and reliable three-dimensional (3D) coordinates for a vehicle is of great interest in monitoring its operation for advanced driver assistance systems and for autonomous navigation of mobile robots. A common possibility is the use of an Inertial Measurement Unit (IMU), which contain different sensors such as accelerometers, gyroscopes and magnetometers [2] For proper operation, these units require calibration once installed on the vehicle and to take into account local magnetic field variations. This paper proposes a reliable sensor system that provides the position and posture of a vehicle by combining the measurements of four identical GNSS-RTK low-cost receivers. In this way, the main contributions are the following: 2. With respect to the second contribution, antenna redundancy was previously intended only to improve positioning precision [5,7], but in this paper it serves to enhance attitude estimations for the vehicle and to tolerate faults on the GNSS receivers.
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