A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture

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Abstract

This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests.

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Morales, J., Martínez, J. L., & García-Cerezo, A. J. (2021). A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture. Sensors, 21(17). https://doi.org/10.3390/s21175853

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