GPS moving performance on open sky and forested paths

— 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 configuratio...

• Type: Conference
• Year: 2007
• Where: IROS
• Authors: Luis Yoichi Morales Saiki, Takashi Tsubouchi
• Keywords: Dual Frequency, Frequency Code, GPS Dual Mode, IROS 2007, Robotics