Aplicação de um sistema GNSS RTK de baixo custo a uma embarcação autônoma de superfície

Guilherme Aparecido Barbosa Pereira; Leonardo de Mello Honório; Edimar José de Oliveira; Alessandro Salles Carvalho

doi:10.20906/CBA2022/3231

Guilherme Aparecido Barbosa Pereira Faculdade de Engenharia Elétrica, Universidade Federal de Juiz de Fora, MG
Leonardo de Mello Honório Faculdade de Engenharia, Departamento de Energia Elétrica, Universidade Federal de Juiz de Fora, MG
Edimar José de Oliveira Faculdade de Engenharia, Departamento de Energia Elétrica, Universidade Federal de Juiz de Fora, MG
Alessandro Salles Carvalho Departamento de Transportes e Geotecnia, Universidade Federal de Juiz de Fora, MG

DOI: https://doi.org/10.20906/CBA2022/3231

Keywords: GNSS, RTK, Low cost, ADCP, ASV

Abstract

Using the RTK technique, GNSS receivers may achieve centimeter positioning accuracy, but the high cost limits its use in many applications. This work brings assembly schemes and open-source codes of analysis and implementation of a low-cost RTK applied in an autonomous surface vehicle with an embedded sensor to survey the water conditions of hydroelectric generation reservoirs. This system has out-of-the-box compatibility with equipment and other robots that operates with GPS or GNSS receivers and its costs are less than R$10,000.00. In the tests, the system achieve an accuracy of approximately 0.12 m, a value better than 4.5 m obtained with the receiver operating with single-point positioning. Thus, the proposed system is able to improve the data collected by the embedded sensor and the vehicle navigation, without increase significantly the final cost.