Mobile Robot GNSS Positioning in Shielded Areas
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Solution Overview
Problem
Existing positional measurement systems using GNSS signals, such as GPS, face challenges in achieving stable precision for targets located in areas where GNSS signals are shielded or have weak reception strength, affecting the reliability of surveying results, especially for mobile targets like drones in tunnels.
Innovation Solution
A mobile robot equipped with a GNSS signal reception unit, precision evaluation unit, and position control unit that moves to a high-precision reception position to receive GNSS signals, combined with a relative position detection unit and target position calculation unit to determine the target's position with stable precision, using an evaluation value map to optimize positioning and communication quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mobile robot remains stationary to maintain communication with the target, then communication stability is improved, but GNSS signal reception precision deteriorates in areas with weak or blocked signals
Solution Approach 1:
The mobile robot dynamically changes its position to optimize GNSS signal reception while maintaining communication capability. The robot moves to locations with better satellite visibility, allowing the system to achieve high-precision positioning even when the target remains stationary in areas with poor GNSS coverage.
Solution Approach 2:
The mobile robot acts as an intermediary between the GNSS satellites and the target object. By positioning itself in areas with good signal reception and using relative position detection, the robot indirectly determines the target's position, overcoming the limitation of direct GNSS reception at the target location.
2Measurement precision
If the mobile robot moves to improve GNSS signal reception, then position measurement precision is improved, but communication stability with the target deteriorates
Solution Approach 1:
The system continuously monitors both GNSS signal quality and communication status, using this feedback to determine optimal robot positioning. The robot adjusts its location based on real-time signal conditions, maintaining both high-precision positioning and stable communication through adaptive decision-making.
Solution Approach 2:
The robot performs preliminary positioning in areas with excellent GNSS reception before approaching the target. This preliminary action establishes a high-precision reference position that enables accurate relative position calculation, ensuring both measurement precision and communication stability during subsequent operations.
3Device complexity
If conventional GNSS measurement methods are used in shielded areas, then system simplicity is maintained, but measurement precision and reliability deteriorate
Solution Approach 1:
The mobile robot serves as a mobile intermediary that brings GNSS signal reception capability to areas where direct reception is impossible. By combining the robot's GNSS positioning with relative position detection, the system achieves accurate target positioning in shielded areas without requiring complex infrastructure changes.
Solution Approach 2:
The system replaces the need for fixed ground-based pseudolite infrastructure with a mobile robot platform. This substitution maintains measurement precision while reducing system complexity and increasing flexibility, as the robot can be deployed anywhere with adequate GNSS signal availability.
Data Source
AI summary
A positional measurement system includes: a mobile robot including a global navigation satellite system (GNSS) signal reception unit that receives GNSS signals and calculates a position of the mobile robot based on the GNSS signals, a GNSS signal precision evaluation unit that evaluates positional measurement precision by the received GNSS signals, and a position control unit that moves the mobile robot to a high-precision reception position, where GNSS signals yielding positional measurement precision higher than a first threshold precision can be received; a relative position detection unit that detects a relative position of a target as to the mobile robot situated at the high-precision reception position; and a target position calculation unit that calculates a position of the target based on the calculated position of the mobile robot based on the GNSS signals received at the high-precision reception position, and the relative position.