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The Mobile Robot Control Research Based on RTK GPS and GIS System

Author: ZengZhuFeng
Tutor: ChenQiJun
School: Tongji University
Course: Control Theory and Control Engineering
Keywords: RTK GPS Electronic map Three reference point coordinate transformation algorithm Distance calculation method
CLC: TP242
Type: Master's thesis
Year: 2007
Downloads: 164
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Abstract


This article RTK GPS electronic map and field robot control is designed by combining the robot positioning system based on the RTK GPS electronic map navigation . RTK GPS is an upgraded version of the ordinary GPS , differential GPS technology , dual- board networking , mobile station using the calibration values ??of the pseudo- code for the base station to improve positioning accuracy , stationary relative positioning accuracy of up to 5cm . Design and production of this article RTK GPS System Application institutions GPS configuration parameters and data processing procedures , on the basis of analysis and experimental design , stationary relative positioning accuracy to the highest standards of value 5cm . Pioneer3 four-wheel drive , and can be adapted to the field of complex application environment of the robot configuration sonar sensors . This article is designed based on the multithreaded Pioneer3 robot control system , can reasonable application of existing resources , to complete the walk to avoid regulatory action , simple, real-time application . Electronic map is the key technology of geographic information systems (GIS) system . Use MapInfo tools , the introduction of the concept of map layers , the design and definition of the four-story structure Summary campus electronic map format . Practical applications prove the map format interface is simple and easy to apply , and have interactive features of the existing electronic maps missing electronic map users . The decline in accuracy RTK GPS system there is a state of motion . WCG-84 there is a three-dimensional coordinate system and a two-dimensional robot GPS electronic map navigation robot coordinate two coordinate systems . Designed three reference point coordinates real-time conversion algorithm , WCG-84 to achieve a three-dimensional coordinates to two-dimensional the robot coordinate the conversion , to solve the RTK GPS system state of motion decline in accuracy . Coordinate transformation algorithm uses a different distance calculation methods positioning result there will be a greater difference . On the basis of a large number of experimental data , compare the impact of the different distance calculation method of the coordinate conversion algorithm , and confirmed that the third reference point coordinate conversion algorithm to achieve high accuracy .

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