A Redundant Configuration of Four Low-Cost GNSS-RTK Receivers for Reliable Estimation of Vehicular Position and Posture.
Sensors (Basel)
; 21(17)2021 Aug 30.
Article
en En
| MEDLINE
| ID: mdl-34502744
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.
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Bases de datos:
MEDLINE
Asunto principal:
Robótica
/
Programas Informáticos
Tipo de estudio:
Health_economic_evaluation
Idioma:
En
Revista:
Sensors (Basel)
Año:
2021
Tipo del documento:
Article
País de afiliación:
España