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Real-time GNSS precise positioning: RTKLIB for ROS

2020Journal article Open access
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dc.contributor.authorFerreira, António
dc.contributor.authorMatias, Bruno
dc.contributor.authorAlmeida, Jose Miguel
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2022-01-13T10:56:18Z
dc.date.available2022-01-13T10:56:18Z
dc.date.issued2020
dc.description.abstractThe global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package.pt_PT
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work is financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project UIDB/50014/2020.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1177/1729881420904526pt_PT
dc.identifier.issn1729-8814
dc.identifier.urihttp://hdl.handle.net/10400.22/19444
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherSagept_PT
dc.relationINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
dc.relation.publisherversionhttps://journals.sagepub.com/doi/10.1177/1729881420904526pt_PT
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/pt_PT
dc.subjectRTKLIBpt_PT
dc.subjectROSpt_PT
dc.subjectRTKRCVpt_PT
dc.subjectRoboticspt_PT
dc.subjectReal-time precise positioningpt_PT
dc.subjectGNSSpt_PT
dc.subjectGPSpt_PT
dc.subjectOpen sourcept_PT
dc.subjectrtkrcv_rospt_PT
dc.titleReal-time GNSS precise positioning: RTKLIB for ROSpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.awardTitleINESC TEC- Institute for Systems and Computer Engineering, Technology and Science
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PT
oaire.citation.issue3pt_PT
oaire.citation.startPage172988142090452pt_PT
oaire.citation.titleInternational Journal of Advanced Robotic Systemspt_PT
oaire.citation.volume17pt_PT
oaire.fundingStream6817 - DCRRNI ID
person.familyNameSoares Almeida
person.familyNameSilva
person.givenNameJosé Miguel
person.givenNameEduardo
person.identifier.ciencia-idD018-2A4D-8588
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0001-5844-5393
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id23007623500
person.identifier.scopus-author-id6507130721
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublication855b71c5-ae99-452d-8b53-d0b4333fe94e
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoveryd0912771-16c3-4f41-a936-79a714e984fb
relation.isProjectOfPublication7a2d9a82-ee07-4c57-bbbf-2d88b942688d
relation.isProjectOfPublication.latestForDiscovery7a2d9a82-ee07-4c57-bbbf-2d88b942688d

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