Research And Application Of Patrols Line Robot GPS The Network RTK Positioning System In The Line Inspection

Mobile robot which is widely applied both in military and civilian areas,has become one of the most popular research subjects in many institutions and organizations for a long time all over the world. Navigation and positioning system plays an important part in Mobile robots.In this paper,author particularly emphasizes on the study and application of GPS RTK for Mobile robot.Introduce the fundamental theories of GPS system,which includes the structure of GPS system, positioning principles, positioning errors and coordinate transform,as well as introduce correlative theories about difference positioning system. According to the comprehensive analysis of GPS system,the method for reducing GPS positioning errors is found.Consequently,the mobile robot positioning method,based on GPS system,is established.In this paper, I researched the GPS/DR integrated navigation technology including the theory of GPS position, the theory of dead-reckoning, the theory of map-matching, the principle and algorithm of federated Kalman filter theory. Realizing the technology of GPS position is discussed. I researched the dynamic route planning technology based on the real-time traffic information and embedded development technology based on WinCE system.Based on the integrated navigation plan proposed in this thesis, the state equation and observation equation of GPS/DR integrated navigation system are constructed. A federated Kalman filter is designed, and the feasibility of plan is proved by simulating. The realization plan of GPS position is introduced. The platform of promulgating real-time traffic information is constructed and the algorithm of dynamic route planning is designed. Overall plan and algorithm are realized in vehicle navigation prototype machine.This paper discusses the characteristics and compute methods of three main spatial correlate errors which influence the accuracy of surveying in GPS net work RTK system,including ionosphere delays,troposphere delays and ephemeris errors.This paper proves that troposphere delays are the main parts of the error sources in GPS net work RTK system.To improve the location accuracy of the user station,interpolating the spatial correlate errors instead of the interpolation of combined errors is proposed, and according to experiment, the actual effect is analyzed preliminary.