Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7273
Título: High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle
Autor: Matias, B.
Oliveira, H.
Almeida, José
Dias, André
Ferreira, H.
Martins, Alfredo
Silva, Eduardo
Palavras-chave: Autonomous underwater vehicles
Oceanographic techniques
ICARUS search and rescue case
RTKlib open source software library
High-accuracy low-cost RTK-GPS
Data: 2015
Editora: IEEE
Relatório da Série N.º: OCEANS;2015
Resumo: This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.
URI: http://hdl.handle.net/10400.22/7273
DOI: 10.1109/OCEANS-Genova.2015.7271673
Versão do Editor: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=7271673
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