NDLI: Reduction of GPS Noise for Precision Control of Robot Navigation in Confined Areas

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Narvesen, Andrew Selekwa, Majura
Copyright Year	2014
Abstract	Most modern navigation systems solve the localization problem by extensively using global positioning system (GPS) data. Unfortunately the GPS data quality depends on several factors, which can lead to large positioning errors. Known GPS errors fall in two groups: either atmospheric errors, or multipath errors. Because of these errors, differential GPS systems have been developed using both ground based and satellite based reference systems. The cost of a differential GPS unit such as a Novatel range from a little over $2000 to over $9000, which can be prohibitive for use on certain home service robotic vehicles such as autonomous snow plows or autonomous lawn mowers. This paper discusses ways of mitigating GPS errors on low cost single frequency GPS units such as Copernicus II, Skytraq and U-Blox, which cost far less than $100 each, and hence are attractive for use in many robotic applications such as those mentioned above. The paper will present a model of GPS noise and use that model to process GPS data for use in navigation of an autonomous snow plow designed for use in residential driveways and side-walks; it will be supported by experimental results only.
File Format	PDF
ISBN	9780791846476
DOI	10.1115/IMECE2014-38548
Volume Number	Volume 4A: Dynamics, Vibration, and Control
Conference Proceedings	ASME 2014 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2014-11-14
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Noise (sound) Errors Robotic vehicles Satellites Navigation Robot navigation Robotics
Content Type	Text
Resource Type	Article

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