The Mobile Robot Control Research Based On RTK GPS And GIS System

In this paper, the robot control and orientation system has been introduced, which is based on RTK GPS and GIS system.Real Time Kinematic Global Positioning System (RTK GPS) is an improved Global Positioning System, which uses differential technique and is able to reach 5 cm precision on the best condition. The RTK GPS application system has been designed and proved that it is able to reach 5 cm precision.Pioneer 3 is a kind of 4-wheel mobile robot and adapts to complex circumstance. Pioneer 3 robot control system has been developed, basing on multi-thread technique, with convenience and real-time characteristic.Digital map is the key technique of Geographic Information System (GIS). This thesis defined a 4-layer digital map architecture, which was proved easily wielded or managed, with DM-USER interaction.RTK GPS's precision declines a lot if the rover are moving. There are two reference coordinate systems in the robot navigation. One is WCG-84, which is three-dimensional. The other is robot reference coordinate system, which is two-dimensional. In this paper, Three Reference Point Coordinate Transform Algorithm(3PCTA) has been introduced, which can avoid the issue of moving-state-precision-decline in RTK GPS and convert WCG-84 coordinate to robot coordinate. Meanwhile, it is found that length-calculation-method has great effect on the final result. The conclusions are supported by large experiments.