Journal ArticleDOI
Time-Relative RTK-GNSS: GNSS Loop Closure in Pose Graph Optimization
Taro Suzuki
- Vol. 5, Iss: 3, pp 4735-4742
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TLDR
The main purpose of this study is to generate a loop closure of a pose graph using a time-relative real-time kinematic GNSS (TR-RTK-GNSS) technique, which is based on carrier-phase-based differential GNSS with a single GNSS receiver.Abstract:
A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras The global navigation satellite system (GNSS) has recently been used to estimate the absolute 3D position of outdoor mobile robots However, since the accuracy of GNSS single-point positioning is only a few meters, the GNSS is not used for the loop closure of a pose graph The main purpose of this study is to generate a loop closure of a pose graph using a time-relative real-time kinematic GNSS (TR-RTK-GNSS) technique The proposed TR-RTK-GNSS technique uses time differential carrier phase positioning, which is based on carrier-phase-based differential GNSS with a single GNSS receiver Unlike a conventional RTK-GNSS, we can directly compute the robot's relative position using only a stand-alone GNSS receiver The initial pose graph is generated from the accumulated velocity computed from GNSS Doppler measurements To reduce the accumulated error of velocity, we use the TR-RTK-GNSS technique for the loop closure in the graph-based optimization framework The kinematic positioning tests were performed using an unmanned aerial vehicle to confirm the effectiveness of the proposed technique From the tests, we can estimate the vehicle's trajectory with approximately 3 cm accuracy using only a stand-alone GNSS receiverread more
Citations
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Journal ArticleDOI
Factor graph based navigation and positioning for control system design: A review
TL;DR: A bibliographical review on factor graph based navigation and positioning is presented, specifically, the sensor modeling, the factor graph optimization methods, and the topology factor based cooperative localization are reviewed.
Journal ArticleDOI
Time-Correlated Window-Carrier-Phase-Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning
TL;DR: Wang et al. as mentioned in this paper employed the carrier-phase measurements inside a window, the so-called window carrier phase (WCP), to constrain the states inside a factor graph.
Posted Content
Time-correlated Window Carrier-phase Aided GNSS Positioning Using Factor Graph Optimization for Urban Positioning.
Xiwei Bai,Weisong Wen,Li-Ta Hsu +2 more
TL;DR: In this article, the carrier-phase measurements inside a window, the so-called window carrier phase (WCP), are employed to constrain the states inside a factor graph.
Journal ArticleDOI
Factor graph based navigation and positioning for control system design: A review
TL;DR: In this article , a bibliographical review on factor graph based navigation and positioning is presented, which includes sensor modeling, factor graph optimization methods, and topology factor based cooperative localization.
Journal ArticleDOI
Feasibility Study of UAV-Assisted Anti-Jamming Positioning
TL;DR: In this paper, the authors proposed a UAV-assisted anti-jamming positioning system, in which multiple UAVs first utilize time-difference-of-arrival (TDoA) measurements from ground reference stations and double-response two-way ranging (DR-TWR) measurements, and then act as anchor nodes to provide TDoA positioning service for ground users in the presence of jamming.
References
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