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The Position Compensation for a Mobile Robot Using DGPS-type Precise Position Service System

DGPS형 정밀위치시스템을 이용한 이동 로봇 위치보정

  • 김윤구 (영남대학교 컴퓨터공학과) ;
  • 이기동 (영남대학교 컴퓨터공학과)
  • Published : 2006.08.01

Abstract

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.

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