Autonomous ground penetrating radar robot with centimeter-order accuracy using QZSS/CLAS

Abstract

We present the development of an autonomous GPR robot capable of centimeter‑level navigation using the Centimeter‑Level Augmentation Service (CLAS) provided by Japan’s Quasi‑Zenith Satellite System (QZSS, MICHIBIKI). Field and laboratory evaluations demonstrate its travel accuracy and buried‑pipe detection capability, with localization errors on the order of approximately 10 cm.