A Real-Time GPS kinematic-Positioning System for Automatic Mining Vehicle Guidance

Recent significant advances in the Global Positioning System (GPS) have contributed to making real-time kinematic/dynamic process for decimetre to centimetre-level positioning more reliable and ready for the production-use. As a result of research and development efforts in this area, a robust real-time kinematic (RTK) GPS positioning prototype system has been established at QUT for both scientific and engineering purposes. This system is finding applications in a wide range of automobile robots or automatic guidance vehicle systems. This paper first summarises the theoretical basis necessary for centimetre real-time kinematic positioning, then gives a brief description for the real-time dynamic GPS system developed at QUT. The paper summarises the results of a designed vehicle tracking test. The results demonstrated that the differences between RTK filtering solutions and OTF solutions are in the order of magnitude of about 20 centimetres and the accuracy of OTF solutions are in the levels of two centimetres. This confirms that the RTK system delivers three-dimensional position with decimetre-to-centimetre accuracy. This particular RTK processing system is robust and reliable, although the system is referred to as a prototype and will be further developed.