2A1-M01 準天頂衛星(みちびき)L1-SAIFを利用した都市部環境下における移動体測位評価(移動ロボットの自己位置推定と地図構築)

概要

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This paper describes an evaluation of the L1-SAIF (L1 Submeter-class Augmentation with Integrity Function) augmentation broadcasted by Quasi-Zenith Satellite System (QZSS) in the urban environment for the vehicle positioning. In urban environment, it is expected that the augmentation of QZSS is quite effective because of its high elevation angle. Therefore, we carried out the static and moving evaluation test. In static evaluation test, we compared with the positioning error between the only GPS positioning and augmentation of QZSS positioning for evaluation of the positioning accuracy. In moving evaluation test, we compared with the visibility of QZSS and SBAS satellites for evaluation of availability. As the result of the evaluation test, it was confirmed that the augmentation of QZSS has better availability and effectiveness than the augmentation of SBAS.
一般社団法人日本機械学会の論文
2011-05-26