Correction of the Odometry System of a Robotic Wheeled Platform Using GPS RTK Technology
Nikita A. Lobazev, Ekaterina Maslennikova, Andrey Klokov · 2024
This paper discusses the complex problem of correcting the odometry system of robotic wheeled platforms, with an emphasis on the use of GPS RTK technology to improve accuracy and reliability. The odometry system, critical for robot navigation, often faces the problem of accumulating errors, especially on long-term missions. The paper proposes a technique that combines odometry data with high-precision GPS RTK data, providing real-time improvements in accuracy and stability. Particular attention is paid to the analysis of the stability of the visual odometry system, compared to the accuracy of the integrated system, and the discussion of methods for minimizing the impact of odometry failures. The results of the study show a significant improvement in the accuracy of robot navigation, which makes this technology promising for applications where high accuracy of movement is required, including autonomous vehicles and complex robotic systems.