Navigation of a robot tractor using the centimeter level augmentation information via Quasi-Zenith Satellite System

摘要

The study evaluates the Centimeter Level Augmentation Service (CLAS) of the Quasi-Zenith Satellite System (QZSS) for controlling a robot tractor. The QZSS transmits augmentation information through an L6 signal to enhance the positioning accuracy of the Global Navigation Satellite System (GNSS). Besides accessing the augmentation information through the L6 signal using a commercial QZSS receiver, this paper also introduces a method for using CLAS with a dual frequency receiver that cannot receive the L6 signal. Stationary and dynamic positioning experiments prove that the QZSS is able to improve the accuracy and availability of the current GNSS. Compensating for the biases of the CLAS positioning results relative to the current GNSS, a robot tractor works along with GNSS-based navigation within 5 cm accuracy.