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goGPS free and constrained relative kinematic positioning with low cost receivers
Abstract and Figures
goGPS is a software package designed to enhance the accuracy of standalone GPS receivers by exploiting networks of GNSS permanent stations to apply real-time relative positioning, extended Kalman filtering techniques to better model the kinematics of a roving GPS receiver, digital terrain model observations to mitigate the GPS weakness in the vertical direction and, if it is known in advance that the receiver is moving along a predefined path (e.g. a railway), linear paths to constrain the positioning. The principal innovation introduced by goGPS is the possibility to apply kinematic relative positioning in an effective way on low cost single frequency GPS receivers, enhancing their accuracy from the usual 2-4 m up to some decimeters. Though this kind of receivers is the main target for goGPS, also double frequency receivers are supported. goGPS positioning capabilities have been assessed by testing it under different conditions of sky visibility, signal degradation and dynamics of the roving receiver. Since goGPS needs GPS raw observations (i.e. code pseudorange, phase measurement, signal-to-noise ratio, etc.) the u-blox AEK-4T evaluation kit was chosen as a roving receiver, since it provides them. goGPS performance using AEK-4T were compared both with other low cost instruments (eBonTek eGPS 597, TomTom MKII) and with high level professional receivers (Leica GS20 and Leica GPS System 1200). The results show that goGPS managed to get higher accuracy than low cost receivers during all the tests, in some cases obtaining accuracy levels of the same order of magnitude of those obtained by the single frequency professional receiver (Leica GS20). goGPS is developed in a MATLAB environment and it can run either in real-time mode, receiving the low cost receiver data stream on a USB port and the master station data stream through the Internet, or in post-processing mode, reading master and rover RINEX files or goGPS data saved during a real-time session.
Figures - uploaded by Eugenio Realini
All figure content in this area was uploaded by Eugenio Realini
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