Precise point positioning for mobile robots using software GNSS receiver and QZSS LEX signal

Taro Suzuki, Nobuaki Kubo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper describes outdoor localization for a mobile robot using precise point positioning (PPP) based on the Quasi-Zenith Satellite System (QZSS) L-band Experiment (LEX) signal. For autonomous navigation applications, a real-time kinematic (RTK) global positioning system (GPS) technique is widely used to estimate user position with high-precision accuracy in real time. However, RTK-GPS requires a reference station, and there are data acquisition costs involved in estimating the position. Our approach corrects position error by applying PPP using the QZSS LEX message. PPP can estimate a single receiver position without any reference station or baseline, through use of satellite position fixing and clocks. We developed a method for extracting the QZSS LEX message in real time using a software GNSS receiver. We then constructed the PPP framework based on an LEX message containing the satellite ephemeris and clock errors. Finally, we conducted field experiments to evaluate the accuracy and precision of our proposed method. The experimental results confirmed that our method made a localization precision of 1.29 m possible without using a GNSS reference station.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages369-375
Number of pages7
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Suzuki, T., & Kubo, N. (2013). Precise point positioning for mobile robots using software GNSS receiver and QZSS LEX signal. In IEEE International Conference on Intelligent Robots and Systems (pp. 369-375). [6696378] https://doi.org/10.1109/IROS.2013.6696378