Conference paper Open Access

GNSS PRECISE POINT POSITIONING FOR AUTONOMOUS ROBOT NAVIGATION IN GREENHOUSE ENVIRONMENT FOR INTEGRATED PEST MONITORING

Michael Pattinson; Smita Tiwari; Yuheng Zheng; María Campo-Cossio; Raúl Arnau; David Obregón; Ander Ansuategui; Carlos Tubio; Iker Lluvia; Oscar Rey; Jeroen Verschoore; Libor Lenza; Joaquin Reyes


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    "description": "<p>GreenPatrol robot is an autonomous robotic solution for early detection and control of pests in greenhouses. The importance of robot precise positioning inside the greenhouse is a key aspect to endow the robot with the ability to scout the environment, precisely register the detected pest location into accurate maps and to allow the later treatment. Greenhouses are a challenging environment in terms of multipath and signal blockage due to its metal-reinforced complex structures of glass or polycarbonate. GreenPatrol&nbsp;robot localization takes advantage of the higher accuracy and the multiple signal frequencies provided by the European Global Navigation Satellite System (EGNSS) of the Galileo constellation (E5Alt BOC), by means of precise positioning techniques combined with inertial measurement sensors, odometry and maps to provide an accurate global localization mechanism.<br>\nThis paper shows the results of a comparative analysis carried out in a Greenhouse environment in order to evaluate the&nbsp; performance of different processing techniques such as Precise Point Positioning (PPP) and Post Processed Kinematic (PPK). The purpose of this analysis is to study the advantages of the use of Galileo new signals and to determine the best global localization solution for the GreenPatrol robot. The results experimentally show that the use of PPP Galileo E5 AltBOC signal in a multi-constellation solution offers better signal quality and better positioning performance for the intended environment.</p>", 
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      "id": "CC-BY-4.0"
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    "title": "GNSS PRECISE POINT POSITIONING FOR AUTONOMOUS ROBOT NAVIGATION IN GREENHOUSE ENVIRONMENT FOR INTEGRATED PEST MONITORING", 
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    "keywords": [
      "GNSS, Precise Point Positioning, Precision Farming, Integrated Pest Monitoring"
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    "publication_date": "2019-02-18", 
    "creators": [
      {
        "affiliation": "Nottingham Scientific Limited", 
        "name": "Michael Pattinson"
      }, 
      {
        "affiliation": "Nottingham Scientific Limited", 
        "name": "Smita Tiwari"
      }, 
      {
        "affiliation": "Nottingham Scientific Limited", 
        "name": "Yuheng Zheng"
      }, 
      {
        "affiliation": "Centro Tecnol\u00f3gico CTC", 
        "name": "Mar\u00eda Campo-Cossio"
      }, 
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        "affiliation": "Centro Tecnol\u00f3gico CTC", 
        "name": "Ra\u00fal Arnau"
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        "affiliation": "Centro Tecnol\u00f3gico CTC", 
        "name": "David Obreg\u00f3n"
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        "affiliation": "Fundaci\u00f3n Tekniker", 
        "name": "Ander Ansuategui"
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      {
        "affiliation": "Fundaci\u00f3n Tekniker", 
        "name": "Carlos Tubio"
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      {
        "affiliation": "Fundaci\u00f3n Tekniker", 
        "name": "Iker Lluvia"
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        "affiliation": "Inkoa Sistemas", 
        "name": "Oscar Rey"
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        "affiliation": "Aerovision BV", 
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        "affiliation": "Mendelova Univerzita v Brn\u011b", 
        "name": "Libor Lenza"
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        "affiliation": "European GNSS Agency", 
        "name": "Joaquin Reyes"
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      "place": "Ba\u0161ka, Krk Island, Croatia", 
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