Aplicação de um sistema GNSS RTK de baixo custo a uma embarcação autônoma de superfície

Abstract

Using the RTK technique, GNSS receivers may achieve centimeter positioning accuracy, but the high cost limits its use in many applications. This work brings assembly schemes and open-source codes of analysis and implementation of a low-cost RTK system, called RTKBox, applied in an autonomous surface vehicle with an embedded sensor to survey the water conditions of hydroelectric generation reservoirs. This system has out-ofthe-box compatibility with equipment and other robots that operates with GPS or GNSS receivers and its cost is approximately 25% of the value of other receivers found in the market. In addition, the devices used in the proposed system can be easily found in the Brazilian market, enabling other researchers and developers who wish to use RTK GNSS receivers in their projects to reproduce the system. These values were compared with other found in related works. Thus, the conclusion is that the equipment has sufficient performance for navigation applications and data acquisition using ADCP.