抄録
This paper describes an evaluation of real time kinematic (RTK) GPS positioning using a single frequency global navigation satellite system (GNSS) receiver for outdoor mobile robots. Conventional RTK-GPS techniques require a double frequency GNSS receiver to solve an ambiguity of the GNSS carrier phase observation. In this paper, we use the single frequency GNSS receiver to calculate precise locations for the control of the mobile robot. We use the multiple GNSS observations of L1 signal to solve the integer ambiguities of carrier phase observations. From the evaluation test, we concluded the proposed technique is effective and useful to estimate the precise location of the mobile robot compared with the conventional technique.
