Global Navigation Satellite System Real-Time Kinematic Positioning Framework for Precise Operation of a Swarm of Moving Vehiclesopen access
- Authors
- Kim, Euiho; Kim, Sae-kyeol
- Issue Date
- 1-Oct-2022
- Publisher
- MDPI
- Keywords
- global navigation satellite systems; RTK; relative position; multi agent operation
- Citation
- SENSORS, v.22, no.20
- Journal Title
- SENSORS
- Volume
- 22
- Number
- 20
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/30514
- DOI
- 10.3390/s22207939
- ISSN
- 1424-8220
- Abstract
- The global navigation satellite system (GNSS) real-time kinematic (RTK) technique is used to achieve relative positioning centimeter levels among multiple agents on the move. A typical GNSS RTK estimates the relative positions of multiple rover receivers with respect to a single-base receiver. In a fleet of rover GNSS receivers, this approach is inefficient because each rover receiver only uses GNSS measurements of its own and those sent from a single-base receiver. In this study, we propose a novel GNSS RTK framework that facilitates the precise positioning of a swarm of moving vehicles through the GNSS measurements of multiple receivers and broadcasts fixed-integer ambiguities of GNSS carrier phases. The proposed framework not only provides efficient RTK positioning but also reliable performance with a limited number of GNSS satellites in view. Our experimental flight tests with six GNSS receivers showed that the systematic procedure of the proposed framework could maintain lower than 6 cm of 3D RMS positioning errors, whereas the conventional RTK failed to resolve the correct integer ambiguities of double difference carrier phase measurements more than 13% in five out of nine total baselines.
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Collections - College of Engineering > Department of Mechanical and System Design Engineering > 1. Journal Articles
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