Autors: Iontchev E., Miletiev, R. G., Damyanov, I. S.
Title: Precise Course and Relative Object Position Calculation Based on RTK Technology
Keywords: GNSS, navigation receiver, RTK

Abstract: The paper represents the accuracy and precision determination of the vehicle position and orientation using the RTK method. The baseline between the two navigation receivers is limited to 100 meters, which is determined by the characteristics of Wi-Fi connection between the receivers. The position of the mobile navigation receiver is relative to the coordinates of the fixed base receiver. The length of the baseline between the receivers, its orientation in the local NED coordinate system, as well as its orientation relative to the North Pole are calculated by the basic software of the navigation receivers. The baseline course and slope are calculated and compared to corresponding ones, which are received from the message. The received messages from the navigation receiver are transmitted via an interface to the u-center environment. It allows recording the messages during the experiment and processed them further in the MATLAB environment to calculate the accuracy and precision of the vehicle's relative position and orientation.

References

  1. Gade Kenneth, The Seven Ways to Find Heading, The journal of navigation (2016), 69, 955-970, The Royal Institute of Navigation 2016, doi:10.1017/S0373463316000096
  2. Ryu Ji Hyoung, Ganduulga Gankhuyag, and Kil To Chong, Navigation System Heading and Position Accuracy Improvement through GPS and INS Data Fusion, Hindawi Publishing Corporation Journal of Sensors, Volume 2016, Article ID 7942963, http://dx.doi.org/10.1155/2016/7942963
  3. Sperl Andreas, Joint RTK and Attitude Determination, Institute for Communications and Navigation, September 2015
  4. Lohani, B., Ghosh, S. Airborne LiDAR Technology: A Review of Data Collection and Processing Systems. Proc. Natl. Acad. Sci., India, Sect. A Phys. Sci. 87, 567-579 (2017), https://doi.org/10.1007/s40010-017-0435-9
  5. An Ultrasonic Sensor for Distance Measurement in Automotive Applications, IEEE Sensors Journal 1(2):143-147, September 2001, doi: 10.1109/JSEN.2001.936931
  6. The Role of RTK in the Autonomous Vehicle Sensor Suite, Swift Navigation, 2017
  7. ZED-F9P-MovingBase-AppNote-UBX-19009093, rev.03, ZED-F9P-Moving base applications, September 2023
  8. ZED-F9P-01B Data sheet, u-blox F9 high precision GNSS module, UBX-17051259-R09, March 2023
  9. Keong J., Lachapelle G., Heading and Pitch Determination Using GPS/GLONASS, GPS Solutions 3, 26-36 (2000). https://doi.org/10.1007/PL00012800
  10. User guide, u-center-GNSS evaluation software for Windows. UBX-13005250-R30, May 2022

Issue

2024 59th International Scientific Conference on Information, Communication and Energy Systems and Technologies, ICEST 2024 - Proceedings, 2024, , https://doi.org/10.1109/ICEST62335.2024.10639703

Цитирания (Citation/s):
1. Valkovski T., Nachev I., Apostolov D., Radichev A., Distributed OATR Sensor System for Detecting Heat and Noise Levels in the Smart Cities, 2025, 60th International Scientific Conference on Information Communication and Energy Systems and Technologies Icest 2025 Proceedings, issue 0, DOI 10.1109/ICEST66328.2025.11098200 - 2025 - в издания, индексирани в Scopus

Вид: публикация в международен форум, публикация в реферирано издание, индексирана в Scopus