DocumentCode :
2338734
Title :
GPS moving performance on open sky and forested paths
Author :
Morales, Yoichi ; Tsubouchi, Takashi
Author_Institution :
Univ. of Tsukuba, Tsukuba
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
3180
Lastpage :
3185
Abstract :
In this paper we present a systematic study of the performance of seven different configurations of GPS on a moving vehicle using three different GPS receivers. The seven different configurations are 1) single frequency code differential DGPS, 2) double frequency code differential DGPS, 3) RTK-GPS receiving RTCM correction from a mobile phone, 4) RTK-GPS receiving RTCM correction information via wireless module from base antenna, 5) StarFire WADGPS, 6) StarFire-DGPS dual mode and 7) StarFire-RTK GPS dual mode. As GPS is mostly used in loosely coupled configurations where receiver output is fused with other sensors, the contribution of this paper is the statistical comparison in two dimensions of different GPS configurations using as performance index availability, precision (using standard deviation parameters of each measurement) and reliability. Two types of study environments were tested, open sky and under tree shading. Time for re-acquiring fix solution for RTK-GPS configurations and re-acquiring dual frequency solution by dual frequency configurations are discussed as well. Finally, experimental measurement results show how under tree shading, biased position data with small covariance can be rejected thresholding measurements with small HDOP values and large number of satellites used for solution.
Keywords :
Global Positioning System; SLAM (robots); mobile robots; radio receivers; GPS receivers; StarFire wide area differential GPS; StarFire-DGPS dual mode; StarFire-RTK GPS dual mode; autonomous vehicle localization; base antenna; double frequency code differential DGPS; dual frequency configurations; forested paths; mobile phone; mobile robot; moving vehicle; open sky; real time kinematic GPS; satellites; single frequency code differential DGPS; statistical comparison; thresholding measurements; tree shading; wireless module; Frequency; Global Positioning System; Mobile antennas; Mobile handsets; Performance analysis; Position measurement; Receiving antennas; Sensor fusion; Vehicles; Wireless sensor networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399307
Filename :
4399307
Link To Document :
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