A Low Cost DGPS Navigation for Mobile Robots

Hiroki Irie

Abstract:	As one of the GPS application, there is a mobile robot to act in the outdoors. It became easy for a mobile robot to use GPS because Selective Availability was removed. We can improve better precision of position measurement by using Differential GPS (DGPS). In this study, a position measurement system for mobile robots has been built using a low price L1 DGPS receiver, and has been examined its error. We also propose a simple reference system for use in the area where it is difficult to use correction information from the public DGPS reference station. The coordinate of position has to know it precisely, even if it is the temporary DGPS reference station. The difference distance between a true coordinate and a wrong one becomes noise in DGPS. Otherwise noise mixed in correction data of reference station receives influence from the peripheral topography of an antenna of reference station. As other error factors in DGPS, there are difference of an error estimate models and correction telecom delay times. In this paper, we consider about an error of position measurement of a mobile robot when there distance was short between the reference station and the rover station. We have proposed a construction of a cheap DGPS suited for a mobile robot. The precision of our simple reference system is analyzed theoretically. Some experimental results on the control of a land mobile robot are shown.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	888 - 895
Cite this article:	Irie, Hiroki, "A Low Cost DGPS Navigation for Mobile Robots," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 888-895.
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