GNSS precise point positioning for autonomous robot navigation in green-house environment for integrated pest monitoring

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F62156489%3A43210%2F18%3A43918306" target="_blank" >RIV/62156489:43210/18:43918306 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.pfri.uniri.hr/web/hr/dokumenti/2018-GNSS-12.pdf" target="_blank" >https://www.pfri.uniri.hr/web/hr/dokumenti/2018-GNSS-12.pdf</a>

DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

GNSS precise point positioning for autonomous robot navigation in green-house environment for integrated pest monitoring

Popis výsledku v původním jazyce

GreenPatrol robot is an autonomous robotic solution for early detection and control of pests in greenhouses. The importance of robot precise positioning inside the greenhouse is a key aspect to endow the robot with the ability to scout the environment, precisely register the detected pest location into accurate maps and to allow the later treatment. Greenhouses are a challenging environment in terms of multipath and signal blockage due to its metal-reinforced complex structures of glass or polycarbonate. GreenPatrol robot localization takes advantage of the higher accuracy and the multiple signal frequencies provided by the European Global Navigation Satellite System (EGNSS) of the Galileo constellation (E5Alt BOC), by means of precise positioning techniques combined with inertial measurement sensors, odometry and maps to provide an accurate global localization mechanism. This paper shows the results of a comparative analysis carried out in a Greenhouse environment in order to evaluate the performance of different processing techniques such as Precise Point Positioning (PPP) and Post Processed Kinematic (PPK). The purpose of this analysis is to study the advantages of the use of Galileo new signals and to determine the best global localization solution for the GreenPatrol robot. The results experimentally show that the use of PPP Galileo E5 AltBOC signal in a multi-constellation solution offers better signal quality and better positioning performance for the intended environment.

Název v anglickém jazyce

GNSS precise point positioning for autonomous robot navigation in green-house environment for integrated pest monitoring

Popis výsledku anglicky

GreenPatrol robot is an autonomous robotic solution for early detection and control of pests in greenhouses. The importance of robot precise positioning inside the greenhouse is a key aspect to endow the robot with the ability to scout the environment, precisely register the detected pest location into accurate maps and to allow the later treatment. Greenhouses are a challenging environment in terms of multipath and signal blockage due to its metal-reinforced complex structures of glass or polycarbonate. GreenPatrol robot localization takes advantage of the higher accuracy and the multiple signal frequencies provided by the European Global Navigation Satellite System (EGNSS) of the Galileo constellation (E5Alt BOC), by means of precise positioning techniques combined with inertial measurement sensors, odometry and maps to provide an accurate global localization mechanism. This paper shows the results of a comparative analysis carried out in a Greenhouse environment in order to evaluate the performance of different processing techniques such as Precise Point Positioning (PPP) and Post Processed Kinematic (PPK). The purpose of this analysis is to study the advantages of the use of Galileo new signals and to determine the best global localization solution for the GreenPatrol robot. The results experimentally show that the use of PPP Galileo E5 AltBOC signal in a multi-constellation solution offers better signal quality and better positioning performance for the intended environment.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20205 - Automation and control systems

Projekt

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Návaznosti

O - Projekt operacniho programu

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

12th Annual Baška GNSS Conference: Proceedings

ISBN

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ISSN

1849-7306

e-ISSN

2670-8981

Počet stran výsledku

18

Strana od-do

51-68

Název nakladatele

University of Rijeka

Místo vydání

Rijeka

Místo konání akce

Baška

Datum konání akce

6. 5. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000532487700003