Real Time Gps Dynamic-Positioning Approaches to Mobile Robot Navigation

Recent significant advances in the Global Positioning System (GPS) have contributed to making real time kinematic or dynamic process for decimetre to centimetre level positioning more reliable and ready for the production-use. As a result of research and development efforts in this area at QUT, a robust real time dynamic (RTD) or kinematic (RTK) GPS positioning software system has been established for both scientific and engineering purposes. This system is finding applications in wide range of automobile robots or automatic guidance vehicle systems. This paper summarises the algorithms used in the RTD processing system and kinematic test results for confirming the achievable positioning accuracies of centimetres to decimetres. A major problem to be faced in the use of real time dynamic GPS positioning techniques for outdoor robot navigation is also discussed.