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

Taro Suzuki, Nobuaki Kubo

研究成果: Conference contribution

12 被引用数 (Scopus)

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
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 32013 11 8

Other

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

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

フィンガープリント

「Precise point positioning for mobile robots using software GNSS receiver and QZSS LEX signal」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル