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A Simple and Cheap Technique for Better Positioning Under Bad Environment : GPS Buffering Algorithm

In these days, many Personal Digital Assistant (PDA) products equipped with GPS receiver for PNS (Personal Navigation System) are on the market. Furthermore many robots will be equipped GPS receiver to navigate by itself in recent future. A common feature of PNS and robot navigation is slow moving, which often results in incorrect navigation. Besides slow moving case, surrounding environment which might block and reflect signals from satellites can degrade navigation accuracy. New and expensive GPS receiver, of course, can cope with the circumstance with additional S/W and/or H/W. Commonly used GPS receiver, however, undergoes navigation performance degradation in slow moving environment. In this paper, a new technique called GPS Buffering Algorithm (GBA) is proposed to improve navigation performance even in slow moving cases. Main idea of the GBA is to pre-process the output signals from a GPS receiver. The GBA analyzes, classifies, and filters the output signals based on moving dynamics. The GBA is a very economical method because it does not require additional H/W to improve navigation performance. Extensive GPS data are collected and tested to validate the GBA. Various test results are shown to verify the usefulness of the algorithm.