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Low-Cost RTK System for Positioning Error Correction in Autonomous Vehicles

Abstract:

State-of-the-art autonomous driving systems have been developed and researched extensively to solve traffic-related problems and to reach the concept of an autonomous and intelligent transport system. To achieve these objectives, using a highly precise positioning system, flexibility, mobility, scalability, and the ability to make corrections in real-time is essential. However, existing high-precision equipment is quite expensive for commercial use in autonomous vehicles, which is a significant limitation to the massive applicability of autonomous driving technology, which has the potential for an incbkp_redibly positive social impact. In this article, the problem of the cost of this equipment is addressed, and through a novel system using a low-cost GNSS (Global Navigation Satellite System) receiver, achieve real-time and high-precision positioning performance by error correction. In this research, RTKLIB software was used to implement a low-cost GNSS receiver positioning system through connection to the caster server of the Military Geographical Institute of Ecuador (IGM) for RTK (Real-Time Kinematic) correction, using the NTRIP protocol. The positioning system has been developed following the precision requirements of autonomous vehicle technology, evaluated, and kinematic tests were performed to test the low-cost receiver positioning performance in a real driving environment. The results obtained showed that the receiver satisfied the required level of precision (less than 0.1 m) and similar positioning has been achieved in rural, interurban, urban, and highway areas.