High Accuracy Successive Moving Baseline Estimation Method for a Slow Speed Robot based on GNSS Positioning —Further Results

抄録

The Global Navigation Satellite System (GNSS) is currently used in a variety of applications, and its positioning accuracy requirements become more and more demanding. We focus on robot which repeatedly moves and stops at low speed, and we aim to estimate its successive moving baseline vectors accurately by using GNSS. In our previous works [1,2], we proposed a method to estimate accurate successive moving baseline vectors based on the difference of the single GNSS receiver observables obtained at two successive observation times (epochs). Also, we proposed a method to estimate the bias error contained in the solution of the moving baseline vector. In this paper, based on [1,2], the methods to provide the initial value of the baseline vector calculation are modified and improved. And further experiments applied by the new proposed method and additional GNSS such as Quasi-Zenith Satellite System (QZSS) have been conducted. From the results, we can see that the proposed method can estimate the moving baseline vector within 1 [cm] accuracy.