저가형GPS 모듈의 성능 비교 및 위치 관계를 이용한 위치 보정 알고리즘 개발 = Performance Comparison of Low-Cost GPS Modules and Development of a Position Correction Algorithm Using Positional Relationships

다국어 초록 (Multilingual Abstract)

Robots are technologies that perform repetitive tasks without the assistance or interference of humans. Recently, there has been an increase in the use of robots that perform tasks while moving along a designated path. One of the key elements in robotic navigation technology is path following. To achieve accurate path following, the precision and accuracy of position recognition are crucial. GPS (Global Positioning System) derives location based on an absolute coordinate system. To enhance positional accuracy, RTK (Real-Time Kinematics) technology is utilized, which can be categorized based on the method of receiving correction signals. The most common approach involves setting up a fixed base station and rover. However, significant positioning errors can occur when various types of GPS modules are used in the setup. This study aims to compare the performance of representative low-cost GPS modules. It also seeks to correct positions by using the positional relationships of each GPS and the consistency of the baseline. As a result, an error reduction rate of over 90% was achieved. Furthermore, it was confirmed that RTK technology can be applied by transmitting correction signals via radio frequency from a single base station to different types of rovers. This approach eliminates the need for network connectivity to provide correction signals when controlling multiple robots, significantly reducing communication costs in future applications.