A Location Method for the Outdoor Mobile Robot Based on GPS/GIS/GPRS

摘要

To improve GPS (Global Positioning System) location precision for the mobile robot, a location method based on GPS/GIS (Geographic Information System)/GPRS (General Packer Radio Service) is proposed. Through analysing GPS data structure, longitude and latitude of the robot can be extracted from GPS data stream. The GPRS module which supported AT commands is used to connect onboard computer on Internet for transmitting these location data and telecommands between the mobile robot and the control center. GIS software is programmed using VC++ and Mapinfo Professional to convert longitude and latitude of the robot into exact positions in the electronic map. A quick map matching solution based on credibility algorithm is added to the electronic map, and its algorithm is described in detail. Experiments show that location error of this method is less than 5m which is better than that of a single GPS receiver.