Kinematic Precise Point Positioning Performance-Based Cost-Effective Robot Localization System

被引:1
|
作者
Farah, Ashraf [1 ]
Tlija, Mehdi [2 ]
机构
[1] King Saud Univ, Coll Engn, Dept Civil Engn, Surveying Engn Program, POB 800, Riyadh 11421, Saudi Arabia
[2] King Saud Univ, Coll Engn, Dept Ind Engn, POB 800, Riyadh 11421, Saudi Arabia
来源
APPLIED SCIENCES-BASEL | 2023年 / 13卷 / 18期
关键词
mobile robots; kinematic PPP; localization; GPS/GLONASS; single/dual frequency; GPS; NAVIGATION; ALGORITHM; PPP;
D O I
10.3390/app131810408
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
The use of high-precision positioning systems in modern navigation applications is crucial since location data is one of the most important pieces of information in Industry 4.0, especially for robots operating outdoors. In the modernization process of global navigation satellite system (GNSS) positioning, precise point positioning (PPP) has demonstrated its effectiveness in comparison to traditional differential positioning methods over the past thirty years. However, various challenges hinder the integration of PPP techniques into Internet of Things (IoT) systems for robot localization, with accuracy being a primary concern. This accuracy is impacted by factors such as satellite availability and signal disruptions in outdoor environments, resulting in less precise determination of satellite observations. Effectively addressing various GNSS errors is crucial when collecting PPP observations. The paper investigates the trade-off between kinematic PPP accuracy and cost effectiveness, through the examination of various influencing factors, including the choice of GNSS system (single or mixed), observation type (single or dual frequency), and satellite geometry. This research investigates kinematic PPP accuracy variation on a 10.4 km observed track based on different factors, using the GNSS system (single or mixed), and observation type (single or dual frequency). It can be concluded that mixed (GPS/GLONASS) dual frequency offers a 3D position accuracy of 9 cm, while mixed single frequency offers a 3D position accuracy of 13 cm. In industry, the results enable manufacturers to select suitable robot localization solutions according to the outdoor working environment (number of available satellites), economical constraint (single or dual frequency), and 3D position accuracy.
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页数:13
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