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Heading Estimation for Autonomous Robot Using Dual-Antenna GPS

Tien-Dung Quoc Tran and Vinh-Hao Nguyen
Ho Chi Minh City University of Technology, Vietnam

Abstract—Most of the attitude estimation systems are built from inertial measurement units (IMUs). Micro-electro-mechanical system-based (MEMS) IMUs are low-cost but large errors. MEMS-based angle estimator often uses a tri-axis magnetometer to determine the yaw angle (heading angle) that the estimation accuracy is significantly influenced by the stability of the environment’s magnetic field. This paper introduces a new method to estimate the heading angle using Global Positioning System (GPS) with dual-antenna. The proposed estimation algorithm is independent of the magnetic field and has high accuracy in the heading angle. Through experiments, we also show that the heading accuracy depends on the quality of the GPS receivers and the antennas.

Index Terms—Global Positioning System (GPS), real-time kinematic (RTK), heading estimation

Cite: Tien-Dung Quoc Tran and Vinh-Hao Nguyen, "Heading Estimation for Autonomous Robot Using Dual-Antenna GPS," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 12, pp. 1566-1572, December 2020. DOI: 10.18178/ijmerr.9.12.1566-1572

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.