Nizette, Benjamin; Tridgell, A; Yu, Changbin (Brad)
In this paper we detail the design and implementation of a Differential GPS system that uses only low-cost, light-weight and widely available GPS modules. Such a system is desirable for modern field robotics in order to improve the performance of mapping, navigation, collision avoidance and other common tasks, especially on payload-constrained robots. The particular noise and error modes present in the low-cost system are investigated and algorithms introduced to minimise their effect. The...[Show more]
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