Integration of Global Navigation Satellite System and Ultra-Wide Band for Improvement of Outdoor Robot Positioning Range and Precision
Keywords:
Localization, Multilateration, Positioning System, Untra-Wide BandAbstract
With the expansion of autonomous mobile robot system applications in outdoor scenarios, there is a need for precise
positioning information to aid robot navigation. Unlike indoor robotic applications where high-accuracy positioning systems
exist, most outdoor robot positioning systems are based on Global Navigation Satellite System (GNSS), which at times fails to
achieve the desired precision in most applications. This paper proposes a more precise real-time outdoor localization system for
mobile robots. The proposed system is designed in such a way to track a moving object as it moves from a low-precision area
to a high-precision area. The system uses multiple low-cost GNSS modules integrated with Ultra-Wide Band (UWB) modules
to improve both range and precision. Experiments, design, and test results of the proposed real-time localization system are
presented. In the experimental work, the precision of the UWB and GNSS modules is determined, where UWB exhibit higher
precision than GNSS while GNSS has wider range. The basis of the proposed design is to harness the stated strengths of
GNSS and UWB by integration of the two. The results from tests of the proposed system indicate precision in the centimeter
range, which is better than that of commercial GNSS-based modules. As a result of the integration, the system operates over
a worldwide range, which is greater than that of UWB devices.
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Copyright (c) 2024 Nelson M. Gachoki, Stanley I. Kamau, Bernard W. Ikua
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