単一周波数GNSS受信機を相対観測で高精度測位へ
Empowering a Single-Frequency GNSS Receiver to Achieve High-Precision Positioning with Relative Observations
低コストな単一周波数GNSS受信機と相対運動センサを組み合わせ、仮想基準局とスライディングウィンドウ因子グラフを用いて、キャリア位相の連続追跡による高精度測位を実現する手法を提案した。実世界実験で数メートルからデシメートル級の精度向上を確認した。
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著者: Xingpeng Wang, Ziwen Qu, Juncheng Chen, Ruitian Pang, Xiangyu Li, Tiancheng Lai, Siqi Shen, Wentao Liu, Pengfei Wang, Chao Xu, Yanjun Cao
分類: cs.RO
原文アブストラクト
Global Navigation Satellite System (GNSS) navigation is widely used to provide absolute, outdoor positioning in field robotics. Advances in Real-Time Kinematic (RTK) technology can achieve centimeter-level accuracy, facilitating autonomous navigation tasks. However, the cost and extra infrastructure used for RTK still hinder the application and more cost-effective solutions are desired. In this letter, we present a novel tightly-coupled state estimation framework that achieves high-precision localization by using low-cost, mass-market single-frequency GNSS receivers with any relative motion sensors (e.g., wheel encoder, camera, LiDAR). We propose a sliding-window factor graph that integrates generic relative motion with global epoch-to-anchor constraints derived from continuous carrier phase tracking. To eliminate the reliance on physical base stations, we introduce a virtual anchor mechanism: upon the initial observation of a satellite, its state is locked as a virtual reference to establish global epoch-to-anchor constraints. By substituting multi-frequency hardware redundancy with single-frequency multi-modal kinematic priors and a robust cycle-slip recovery technique, our approach ensures carrier-phase integrity on cheap receivers. Extensive real-world experiments on heterogeneous low-cost sensor suites validate that our method improves the accuracy of a single-frequency receiver from several meters to decimeter-level precision across diverse environments, providing an accurate, cost-effective and reliable alternative for autonomous navigation.
