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Evaluation of Low-Cost RTK GPS ReceiversPart of the iTRANSIT project.
Thomas Petig
May 16, 2016
Copyright 2016 Thomas Petig 1 / 13
Introduction to RTK GNSS
I Testing of vehicles requires reliable and accurate positioninformation.
I Standard GNSS too inaccurate.I How about augmented GNSS?
I SBAS/EGNOSI DGPSI PPPI RTK
Copyright 2016 Thomas Petig 2 / 13
Introduction to RTK GNSS
RTK (real time kinematic):I Analyses carrier phase.I Gives sub-decimeter accuracy, butI requires base station data in real time.
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Software RTK GNSS
RTKLIBI Released around 2006.I Only RAW receiver needed.I Full processing in software.I BSD 2 clause license.I Supports Linux/Windows.
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RPi2 Navio+MCX-SMA SMA CableSPI
Bat
XT60 Power adapter
Power port
Wifi USB
Local Storage
SD Card
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What does low cost mean?
Raspberry Pi 2 500 krGNSS receiver 1500 krGNSS Antenna 900 kr
Misc. 1000 kr
Total 3900 krYou also need a base station.
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GNSS receiver
Navio+ receiver and Raspberry Pi:
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Accuracy
Navio+ w/ TW2400fixed (green only) all
points 68749 75187σ [m] 0.025 0.482
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Conclusion
I Low-cost is possible.I Limitation due to single frequency use
I Longer warm up time.I Hick ups.
I Low update rate (1 - 20 Hz).
Copyright 2016 Thomas Petig 10 / 13