2026-06-06T19:30:28Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/294582026-02-03T11:18:41Zcom_10630_2254col_10630_37953

00925njm 22002777a 4500 dc Morales-Rodríguez, Jesús author Martínez-Rodríguez, Jorge Luis author García-Cerezo, Alfonso José author 2021 This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every three-antennas combination is optimal to get the most precise 3D coordinates with respect to a global reference system. The redundancy provided by the fourth receiver allows to improve estimations even more and to maintain accuracy when one of the receivers fails. A mini computer with the Robotic Operating System is responsible for merging all the available measurements reliably. Successful experiments have been carried out with a ground rover on irregular terrain. Angular estimates similar to those of a high-performance IMU have been achieved in dynamic tests. Morales, J.; Martínez, J.L.; García-Cerezo, A.J. A Redundant Configuration of Four Low-Cost GNSS-RTK Receivers for Reliable Estimation of Vehicular Position and Posture. Sensors 2021, 21, 5853. https://doi.org/10.3390/s21175853 https://hdl.handle.net/10630/29458 10.3390/s21175853 Radio - Receptores Vehículos de motor A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture