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Low-Cost Implementation of Differential GPS Using Arduino Martin Svaton LiU-ITN-TEK-A-16/039--SE Low-cost implementation of Differential GPS using Arduino Martin Svaton 2016-09-02 Department of Science and Technology Institutionen för teknik och naturvetenskap Linköping University Linköpings universitet nedewS ,gnipökrroN 47 106-ES 47 ,gnipökrroN nedewS 106 47 gnipökrroN LiU-ITN-TEK-A-16/039--SE Low-cost implementation of Differential GPS using Arduino Examensarbete utfört i Transportsystem vid Tekniska högskolan vid Linköpings universitet Martin Svaton Handledare David Gundlegård Examinator Carl Henrik Häll Norrköping 2016-09-02 Upphovsrätt Detta dokument hålls tillgängligt på Internet – eller dess framtida ersättare – under en längre tid från publiceringsdatum under förutsättning att inga extra- ordinära omständigheter uppstår. Tillgång till dokumentet innebär tillstånd för var och en att läsa, ladda ner, skriva ut enstaka kopior för enskilt bruk och att använda det oförändrat för ickekommersiell forskning och för undervisning. Överföring av upphovsrätten vid en senare tidpunkt kan inte upphäva detta tillstånd. All annan användning av dokumentet kräver upphovsmannens medgivande. För att garantera äktheten, säkerheten och tillgängligheten finns det lösningar av teknisk och administrativ art. Upphovsmannens ideella rätt innefattar rätt att bli nämnd som upphovsman i den omfattning som god sed kräver vid användning av dokumentet på ovan beskrivna sätt samt skydd mot att dokumentet ändras eller presenteras i sådan form eller i sådant sammanhang som är kränkande för upphovsmannens litterära eller konstnärliga anseende eller egenart. För ytterligare information om Linköping University Electronic Press se förlagets hemsida http://www.ep.liu.se/ Copyright The publishers will keep this document online on the Internet - or its possible replacement - for a considerable time from the date of publication barring exceptional circumstances. The online availability of the document implies a permanent permission for anyone to read, to download, to print out single copies for your own use and to use it unchanged for any non-commercial research and educational purpose. Subsequent transfers of copyright cannot revoke this permission. All other uses of the document are conditional on the consent of the copyright owner. The publisher has taken technical and administrative measures to assure authenticity, security and accessibility. According to intellectual property law the author has the right to be mentioned when his/her work is accessed as described above and to be protected against infringement. For additional information about the Linköping University Electronic Press and its procedures for publication and for assurance of document integrity, please refer to its WWW home page: http://www.ep.liu.se/ © Martin Svaton Institute of Technology - Intelligent Transport Systems and Logistics Linköping University Low-cost implementation of Differential GPS using Arduino Master thesis Martin Svatoň . September Supervisor: David Gundlegård Examiner: Carl Henrik Häll ČESKÉ VYSOKÉ UČENÍ TECHNICKÉ V PRAZE Fakulta dopravní Ústav letecké dopravy Nízkonákladavoá reali zace Diferenciální GPS pomocí systé mu Arduino Low-cost implementation of Differential GPS using Arduino Diplomová práce Studijní program: Technika a technologie v dopravě a spojích Studijní obor: Inteligentní dopravní systémy Vedoucí práce: Ing. Petr Bureš, Ph.D. David Gundlegård, MSc Martin Svatoň This thesis was carried out with the Department of Science and Technology at the Acknowledgment University in Prague as a final part of the Double Degree study program Intelligent TransportLinköping Systems.University, I wouldand Department like to thanks of Transport to Telematics at Czech Technical (LIU), oductory lectures in GPS positioning and their contributions during themy thesisexaminer progress. Carl Henrik Häll supervisorsSpecial thanks David to GundlegårdLIU Donghwan Yoon and fromPetr Sejong Bure� Univers CTU fority intrfor providing materials and description about the position-domain projection algorithm. I No121/2000Declaration concerning the authorial law. have no relevant reasons against using this schoolwork in the sense of § of Act I declare that I accomplished my final thesis by myself and I named all the sources I used in accordance with the guideline about the ethical rules during preparation of University final thesis. In Norrk __________________________________ öping Martin Svatoň Upphovsrätt Detta dokument hålls tillgängligt på Internet – eller dess framtida ersättare – från publiceringsdatum under förutsättning att inga extraordinära omständigheter uppstår. kommersiell Tillgång till dokumentet innebär tillstånd för var och en att läsa, ladda ner, skriva kanut enstaka in kopior för enskilt bruk och att använda det oförändrat för icke forskning och för undervisning. Överföring av upphovsrätten vid en senare tidpunkt te upphäva detta tillstånd. All annan användning av dokumentet kräver upphovsmannens medgivande. För att garantera äktheten, säkerheten och tillgängligheten finns lösningar av teknisk och administrativ art. Upphovsmannens ideella rätt innefattar rätt att bli nämnd som upphovsman i den omfattning som god sed kräver vid användning av dokumentet på ovan beskrivna sätt anseendesamt skydd eller mot egenart. att dokumentet ändras eller presenteras i sådan form eller i sådant sammanhang som är kränkande för upphovsmannens litterära eller konstnärligalagets hemsida http://www.ep.liu.se/. För ytterligare information om Linköping University Electronic Press se för The publishers will keep this document online on the Internet or its possible Copyrightreplacement from the date of publication barring exceptional circumstances. The online availability of the document implies permanent permission– for anyone to read, to download,– or to print out single copies for his/her own use and to use it unchanged for non-commercial research and educational purpose. Subsequent transfers of copyright cannot revoke this permission. All other uses of the document are conditional upon the consent of the copyright owner. The publisher has taken technical and administrative measures to assure authenticity, security and accessibility. According to intellectual property law the author has the right to be mentioned when his/her work is accessed as described above and to be protected against infringement. procedures for publication and for assurance of document integrity, please refer to its wwwFor home additional page: http://www.ep.liu.se/.information about the Linköping University Electronic Press and its Martin Svaton © 1 I nomous gadgets as drones or autonomousAbstract lawnmowers, which are widely used by the public to facilitate everyday life.n today’s Drones technical become dimensions, more and morethere popularare various due au toto mobility and autonomous air operations. The continuous development leads to finding of diverse application for drones such as delivery service or filming. These autonomous devices are used to navigate themselves and operate without human intervention. It predominantly uses a GPS as a source of position information, which is provided by GPS receiver attached to the device. However, these measurements are not accurate enough to estimate the exact position, which is one of the major requirements for autonomous operation. The main objective of this thesis is to propose the solution for improving the positioning accuracy, which is not expensive and easy to implement. The Arduino DGPS solution implemented in this thesis proposes the algorithms for position accuracy improvements in two ways. The first mode uses a range residual computed by the receiver to estimate pseudorange corrections (PRCs) and corresponding position correction. The second mode works as an advanced Satellite- Based Augmentation System (SBAS) correction repeater, which uses the SBAS correction to acquire the position correction. Both solutions are implemented to the Arduino and user can choose, which correction method will be used. Keywords: Differential GPS, Arduino, Low-cost implementation V Abstrakt Drony dne�ní p�etechnizované době je využívano mnoha autonomních za�ízení, jako jsou autonomní sekačky či drony,objevu které jsou �iroce využívány v soukromém sektoru. jsou velmi populární díky své mobilitě a schopnosti autonomních letů. Postupný vývoj těchto za�ízení vedl k mnoha aplikací, jako nap�íklad filmování z ptačí perspektivy nebo autonomní doručování. poskytujTyto autonomní za�ízení se samy navigují a fungují bez uživatelských intervencí. Pro navigaci se p�evážně využívá systému GPS. Běžně dostupné GPS p�íjmače v�ak í poziční data s určitou chybou, které je t�eba eliminovat pro p�esnou navigaci. Hlavním cílem této práce je návrh �e�ení zp�esňování GPS pozice, které je levné a snadno použitelné. Navrhované �e�ení Arduino DGPS využívá dvou principů zp�esňování GPS mě�ení. První m�d počítá korekce pseudovzdáleností na základě rozdílu sledované a vypočtené pseudovzdálenosti range O residuals. Druhý m�d pracuje na principu opakovače SBAS korekcí, kde se p�ijímané korekce SBAS aplikují na mě�enou pozici, čímž dojde ke zp�esnění GPS pozice. bě re�ení jsou implementována do systému Arduino a uživatel si může vybrat jednu z korekčních metod. Klíčová slova: Diferenční GPS, Arduino, Nízkonákladová implementace 2 Table of Contents 1 INTRODUCTION .........................................................................................................................................8 1.1 BACKGROUND ..........................................................................................................................................
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