GPS moving performance on open sky and forested paths
GPS moving performance on open sky and forested paths
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DOI：
10.1109/iros.2007.4399307
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发表时间：
2007-12
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影响因子：
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通讯作者：
Luis Yoichi Morales Saiki;T. Tsubouchi
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文献类型：
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作者：
Luis Yoichi Morales Saiki;T. Tsubouchi
在本文中，我们提出了一个系统的研究七种不同配置的GPS在移动车辆上使用三种不同的GPS接收机的性能。七种不同的配置是1）单频码差分DGPS，2）双频码差分DGPS，3）从移动的电话接收RTCM校正的RTK-GPS，4）通过无线模块从基站天线接收RTCM校正信息的RTK-GPS，5）StarFire WADGPS，6）StarFire-DGPS双模和7）StarFire-RTK GPS双模。由于GPS主要用于接收机输出与其他传感器融合的松耦合配置，本文的贡献是在两个维度上的统计比较不同的GPS配置作为性能指标的可用性，精度（使用每个测量的标准偏差参数）和可靠性。两种类型的研究环境进行了测试，露天和树荫下。讨论了RTK-GPS组合重新获得定位解的时间和双频组合重新获得双频解的时间。最后，实验测量结果表明，在树木阴影下，具有小协方差的偏置位置数据可以被拒绝阈值测量与小HDOP值和大量的卫星用于解决方案。
In this paper we present a systematic study of the performance of seven different configurations of GPS on a moving vehicle using three different GPS receivers. The seven different configurations are 1) single frequency code differential DGPS, 2) double frequency code differential DGPS, 3) RTK-GPS receiving RTCM correction from a mobile phone, 4) RTK-GPS receiving RTCM correction information via wireless module from base antenna, 5) StarFire WADGPS, 6) StarFire-DGPS dual mode and 7) StarFire-RTK GPS dual mode. As GPS is mostly used in loosely coupled configurations where receiver output is fused with other sensors, the contribution of this paper is the statistical comparison in two dimensions of different GPS configurations using as performance index availability, precision (using standard deviation parameters of each measurement) and reliability. Two types of study environments were tested, open sky and under tree shading. Time for re-acquiring fix solution for RTK-GPS configurations and re-acquiring dual frequency solution by dual frequency configurations are discussed as well. Finally, experimental measurement results show how under tree shading, biased position data with small covariance can be rejected thresholding measurements with small HDOP values and large number of satellites used for solution.