Moving Baseline RTK-based Ground Vehicle-Drone Combination System

• DOI: 10.33012/2024.19577
• Publication Date: 2024-02-14T20:46:31Z
• Authors: Gyeongmin Kim; Wonwoo Park; Byungwoon Park
• Keywords: Drone; Baseline (sea); Real Time Kinematic; Position (finance)

The unmanned aerial vehicle (UAV) market has expanded following the Fourth Industrial Revolution. However, limitations persist, particularly flight duration and operation range due to battery constraints. To overcome these limitations, combining UAVs with other moving vehicles been proposed, approaches typically rely on camera information. narrowing field of view during landing process platforms can cause target exit camera's limited range, necessitating a restart land process, which is detrimental impacting mission performance given drone's operating time window. address this, Real-Time Kinematics (RTK) applied effectively complement weaknesses camera-based approach systems by improving position accuracy both drones platforms. RTK computes user's precise mitigating common errors in global navigation satellite system (GNSS) signals through double-differentiating measurements between user fixed reference station whose exact location known. Nevertheless, this solution constrained around station. This study introduces novel combination for ground drones, using only GNSS without reliance cameras. employs Moving Baseline (MBRTK) technology, extends benefit sending correction data from station, thereby eliminating dependency stationary additional infrastructures, widening operational range. Prior research validated that MBRTK technology achieve cm-level accuracy, significantly reduces complexity infrastructure construction. precision requires use specialized receiver modules or development proprietary software implementations. In contrast, our developed designed ease integration, utilizing readily available commercial off-the-shelf (COTS) components. It engineered be compatible standard message protocols hardware configurations used existing technologies, such as Pixhawk autopilots. compatibility allows minimal modifications implementation, lowering barriers adoption facilitating more straightforward upgrade path seeking incorporate capabilities. Our proposed utilizes relative provided synchronize movement those vehicle, streamlining control commands.