抄録
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.
本文言語 | English |
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ホスト出版物のタイトル | IEEE International Conference on Intelligent Robots and Systems |
ページ | 369-375 |
ページ数 | 7 |
DOI | |
出版ステータス | Published - 2013 |
外部発表 | はい |
イベント | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan 継続期間: 2013 11月 3 → 2013 11月 8 |
Other
Other | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 |
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国/地域 | Japan |
City | Tokyo |
Period | 13/11/3 → 13/11/8 |
ASJC Scopus subject areas
- 制御およびシステム工学
- ソフトウェア
- コンピュータ ビジョンおよびパターン認識
- コンピュータ サイエンスの応用