The global navigation satellite system (GNSS) constitutes an effective and affordable solution to the outdoor positioning problem. When combined with precise positioning techniques, such as the real time kinematic (RTK), centimeter-level positioning accuracy becomes a reality. Such performance is suitable for a whole new range of demanding applications, including high-accuracy field robotics operations. The RTKRCV, part of the RTKLIB package, is one of the most popular open-source solutions for real-time GNSS precise positioning. Yet the lack of integration with the robot operating system (ROS), constitutes a limitation on its adoption by the robotics community. This article addresses this limitation, reporting a new implementation which brings the RTKRCV capabilities into ROS. New features, including ROS publishing and control over a ROS service, were introduced seamlessly, to ensure full compatibility with all original options. Additionally, a new observation synchronization scheme improves solution consistency, particularly relevant for the moving-baseline positioning mode. Real application examples are presented to demonstrate the advantages of our rtkrcv_ros package. For community benefit, the software was released as an open-source package. ; The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work is financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project UIDB/50014/2020. ; info:eu-repo/semantics/publishedVersion
Real-time GNSS precise positioning: RTKLIB for ROS
2020-01-01
doi:10.1177/1729881420904526
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
RTKLIB , ROS , RTKRCV , Robotics , Real-time precise positioning , GNSS , GPS , Open source , rtkrcv_ros
DDC: | 629 |
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