A compact RTK-GNSS device for high-precision localization of outdoor mobile robots

Abstract

Accurate location information is crucial for ensuring the reliability of service robots, such as field vehicles and agricultural robots. These practical robots often encounter fluctuating or inclined terrains in dynamic conditions during operation. Additionally, the performance of mobile robots depends on the physical size and weight of the localization system–physically heavy systems may degrade performance. In this paper, we present a compact, lightweight RTK-GNSS device weighing under 40 g, which achieves centimeter-level accuracy across different attitudes and dynamic situations. To enhance signal reception and positioning performance, we lessen noise levels in the power circuit and radio-frequency signal conditioning using a low-dropout regulator and low-noise amplifier. Utilizing the configured device, we verified centimeter-level accuracy through experiments of tracking an unmanned ground vehicle. The potential of the device is substantiated via three application scenarios—a localization of a moving human for a wearable device, a heading estimation of a mobile robot in stationary conditions, and practical field tests in various signal-reception environments. Attributable to its compact dimensions and lightweight features, the proposed device can yield a low system strain while maintaining high accuracy and reliable performance, rendering it highly adaptable for various robotic applications.