![]() ![]() To improve the relative position estimation accuracy and the reliability simultaneously for the RTK without a precisely known reference receiver, multiple receivers mounted on a moving platform are used as the base station. The stationary reference receiver with precisely known coordinates is difficult to establish in some special real-time relative positioning applications. Furthermore, given prior information of the yaw angle, the same level of accuracy can be obtained by the proposed algorithm without the coarse estimation step. The results also demonstrate that the proposed algorithm can achieve positioning accuracy close to the theoretical Cramer–Rao lower bound. ![]() Decimeter accuracy can be obtained under a Gaussian measurement noise with a standard deviation of 0.2 m. Simulation results show a better availability of our system compared with the single antenna positioning system. ![]() To obtain the global optimal solutions, we propose a coarse estimator that utilizes the displacement knowledge of the antennas to provide a rough initial guess. An estimator based on the Levenberg–Marquardt algorithm is introduced to solve the nonlinear pseudo-range equations. In this paper, a distributed multi-antenna positioning system is proposed, where multiple synchronous antennas are equipped on corners of an AGV to improve the availability and accuracy of positioning. However, the presence of obstacles in harsh environments, as well as carried cargoes on the AGV, will degrade the localization performance, since they block the propagation of radio signals. Radio-based positioning systems are typically utilized to provide high-precision position information for automatic-guided vehicles (AGVs). Berdasarkan data hasil percobaan dan membandingkan hasil trayektori dapat disimpulkan bahwa sistem estimasi posisi ini mampu meningkatkan akurasi data sebesar 3 sampai 30%. Koordinat garis referensi diambil menggunakan google maps dengan jarak antar titik koordinat adalah 1 meter. Pengujian sistem estimasi posisi dilakukan diarea terbuka dengan membawanya pada garis referensi sejauh 200 meter yang telah diketahui nilai koordinatnya. Pengimplementasian sistem estimasi posisi ini mempertimbangkan tentang pengaruh berat terhadap titik center of gravity roket dan ukuran ruang payload. Pada penelitian ini digunakan dua buah penerima GNSS dengan jenis yang sama. Penelitian ini bertujuan untuk meningkatkan akurasi dan kepresisian data posisi dengan menggunakan algoritma Kalman Filter dan multi penerima GNSS untuk menestimasi posisi roket EDF. Oleh karena itu diperlukan sistem navigasi berbasis waypoint yang dapat mengarahkan wahana roket menuju target. Pada Kategori ini setiap peserta diharuskan merancang wahana roket EDF yang dapat meluncur dari rel launcher secara autonomous menuju target selebar 25m sejauh 200m yang telah diketahui koordinat lokasinya. Salah satu kategori pada kompetisi ini adalah Wahana Sistem Kendali, kategori ini memiliki tema “Perancangan wahana dengan sistem propulsi Electric Ducted Fan (EDF) dan sistem kendali untuk mencapai sasaran secara horizontal”. Kompetisi Muatan Roket Indonesia (KOMURINDO) merupakan kompetisi yang diselenggarakan oleh Lembaga Penerbangan dan Antariksa Nasional (LAPAN). As redundant position data become more ubiquitous, it can be used to improve the fused estimate over any single system alone, while further increasing overall robustness. The methods that account for nonzero correlations provide the most improved fused mean position error. As the number of systems grows, simulations show that the root mean squared (horizontal) position error decreases. The methods of averaging, maximum likelihood estimation, covariance trace optimization, and covariance intersection are compared. The innovations are derived from extended Kalman filters and used in weighting the combination of outputs, under conditions of independence, estimated correlations, and unknown cross covariance. To prospect any such improvements, a federated architecture using the position outputs of multiple GPS with an inertial measurement unit is considered for a ground vehicle. However, the use of multiple Global Positioning System (GPS) outputs has not been thoroughly explored within a decentralized fusion context for reducing the uncertainty and position error. Satellite navigation is commonly used in timing and positioning applications, and combined with complementary inertial information to generate a more complete solution. Redundant outputs from multiple positioning systems are not typically fused together on moving vehicles, resulting in unrealized opportunities in minimizing any combined position error and uncertainty. ![]()
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