Computer Science – Robotics
Scientific paper
Jan 2001
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2001stin...0118563r&link_type=abstract
Technical Report, Stanford Univ. Stanford, CA United States Aerospace Robotics Lab.
Computer Science
Robotics
Global Positioning System, Algorithms, Positioning, Rangefinding, Transmitter Receivers, Intercalibration, Deep Space, Simulation, Navigation
Scientific paper
Pseudolites can extend the availability of GPS-type positioning systems to a wide range of applications not possible with satellite-only GPS, including indoor and deep-space applications. Conventional GPS pseudolite arrays require that the devices be pre-calibrated through a survey of their locations, typically to sub-centimeter accuracy. This can sometimes be a difficult task, especially in remote or hazardous environments. By using the GPS signals that the pseudolites broadcast, however, it is possible to have the array self-survey its own relative locations, creating a Self-Calibrating Pseudolite Array (SCPA). In order to provide the bi-directional ranging signals between devices necessary for array self-calibration, pseudolite transceivers must be used. The basic principles behind the use of transceivers to create an SCPA were first presented in paper presented to the Institute of Navigation GPS-98 Conference. This paper begins with a brief review of the transceiver architecture and the fundamental direct-ranging algorithm presented in that paper. This is followed by a description of a prototype self-differencing transceiver system that has been constructed, and a presentation of experimental code- and carrier-phase ranging data obtained using that system. A second algorithm is then described which uses these fundamental range measurements between transceiver pairs to self-calibrate a larger stationary array and to provide positioning information for a vehicle moving within that array. Simulation results validating the accuracy and effective convergence of this algorithm are also presented.
LeMaster Edward A.
Rock Stephen M.
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