Pose Graph Optimization using Multiple GNSS
Taro Suzuki · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2020
The global navigation satellite system (GNSS) has recently been used for the autonomous control of unmanned vehicles. However, GNSS positioning accuracy is affected by the possibility of the degradation of GNSS observables (e.g., multipath and poor satellite geometry) in an urban environment. In this paper, we use the pose-graph-based optimization technique. The main idea of this study is that a loop closure of the pose graph is generated from a time-relative real-time kinematic GNSS (TR-RTK-GNSS) technique. The initial pose graph is generated from the accumulated velocity computed using a GNSS Doppler measurement. To cancel the accumulated error of the velocity, we use the TR-RTK-GNSS as the loop closure in the graph-based optimization frameworks. From field experiments, we can estimate the robot trajectory with centimeter accuracy in an open-sky environment using only a stand-alone GNSS receiver.