Details

Autor(en) / Beteiligte

• Morales, Jesús
• Martínez, Jorge L
• García-Cerezo, Alfonso J

Titel

A Redundant Configuration of Four Low-Cost GNSS-RTK Receivers for Reliable Estimation of Vehicular Position and Posture

Ist Teil von

• Sensors (Basel, Switzerland), 2021-08, Vol.21 (17), p.5853

Ort / Verlag

Switzerland: MDPI AG

Erscheinungsjahr

2021

Quelle

EZB-FREE-00999 freely available EZB journals

Beschreibungen/Notizen

• This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests.