| With the development of information society, high-performance automation systems in industry, agriculture, national defense and other areas are been concerned. Among them, the distributed multi-robot network structure is an important development direction of the current. The precise location of mobile robot has been a hot issue in the multi-robot coordination and navigation. GPS navigation is the most advanced tool in mobile robot autonomous navigation technology. With the increasing demand for GPS applications, and the improving theory, DGPS has greatly expanded the area of GPS applications. When RTK has been combined with computer technology, modern communication technology, network management technology, it has produced VRS technology, which is easy operating in a wide area with high positioning accuracy. This article will focus on the construction of multi-robot positioning system and the generation of differential corrections. The main contents and conclusions are as follows:(1) A complete GPS positioning system includes GPS-Card, antenna, wireless channel and the information processing terminal. And we set up a GPS positioning system using these hardware.(2)It is advised that linear combination of differential equations is a useful way to weaken the errors on the positioning accuracy. The error sources are clock error, tropospheric delay, ionospheric delay and so on.(3)All kinds of algorithm in DGPS have been studied. And the generation of the differential corrections of carrier phase measurement are described in detail. A multi-robot system with single base station include how to generate, code, decode and transport differential information is finished. Also the positioning accuracy of the system has been analyzed.(4) The Basic concepts, principles and work flow system of VRS has been researched, and how to set up a VRS system and generate VRS differential corrections has been stated in detail. |
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