文章基本信息

标题：Network-based RTK Performance for Drone Navigation
本地全文：下载
作者：Tae-Suk Bae
期刊名称：E3S Web of Conferences
印刷版ISSN：2267-1242
电子版ISSN：2267-1242
出版年度：2019
卷号：94
页码：1-4
DOI：10.1051/e3sconf/20199401006
出版社：EDP Sciences
摘要：The Real-time Kinematic (RTK) was predominantly used for the positioning of the ground applications including moving vehicles. Due to the limited baseline lengths, the Network-based RTK (NRTK) was introduced since late-1990s, and successfully applied to the high precision surveying purposes for more than a decade. We conducted the experiments to analyze the performance of the single-baseline RTK (SRTK) as well as the NRTK using one of the operational NRTK systems of Korea, which is the Virtual Reference Stations (VRS) technique. A total of 46 Continuously Operating Reference Stations (CORS) are used for both SRTK and NRTK to secure the redundancy of the baseline lengths. Since the CORS are quite evenly located at an average of 50-60 km, the analysis of error behavior is restricted in terms of seamless variation of baseline length. Therefore, on top of the existing CORS, we simulated the GNSS RINEX data of the rover (that is, the drone position) at a specific location to get the uniform distribution to the reference stations. Furthermore, the rover was generated for different altitude to evaluate the performance of vertical component of the NRTK system. The CORS GNSS data were obtained at 1 Hz in RINEX format, and the low-cost receiver (ublox) was used for the rover with same interval, single-frequency capability. The correction information from the NRTK server was simultaneously logged for post-processing using the open source software RTKLIB. The percentage of ambiguity resolution was quite reasonable up to 50 km, and drastically drops down as the baseline gets longer. The generated VRS was located with an offset of a few meters in a certain direction, and the horizontal errors also showed a similar pattern. The vertical error behavior due to the tropospheric model deficiency should also be analyzed further.
其他摘要：The Real-time Kinematic (RTK) was predominantly used for the positioning of the ground applications including moving vehicles. Due to the limited baseline lengths, the Network-based RTK (NRTK) was introduced since late-1990s, and successfully applied to the high precision surveying purposes for more than a decade. We conducted the experiments to analyze the performance of the single-baseline RTK (SRTK) as well as the NRTK using one of the operational NRTK systems of Korea, which is the Virtual Reference Stations (VRS) technique. A total of 46 Continuously Operating Reference Stations (CORS) are used for both SRTK and NRTK to secure the redundancy of the baseline lengths. Since the CORS are quite evenly located at an average of 50-60 km, the analysis of error behavior is restricted in terms of seamless variation of baseline length. Therefore, on top of the existing CORS, we simulated the GNSS RINEX data of the rover (that is, the drone position) at a specific location to get the uniform distribution to the reference stations. Furthermore, the rover was generated for different altitude to evaluate the performance of vertical component of the NRTK system. The CORS GNSS data were obtained at 1 Hz in RINEX format, and the low-cost receiver (ublox) was used for the rover with same interval, single-frequency capability. The correction information from the NRTK server was simultaneously logged for post-processing using the open source software RTKLIB. The percentage of ambiguity resolution was quite reasonable up to 50 km, and drastically drops down as the baseline gets longer. The generated VRS was located with an offset of a few meters in a certain direction, and the horizontal errors also showed a similar pattern. The vertical error behavior due to the tropospheric model deficiency should also be analyzed further.