Accurate location information is crucial for ensuring the reliability of service robots, such as field vehicles and agricultural robots. These practical robots often encounter fluctuating or inclined terrains in dynamic conditions during operation. Additionally, the performance of mobile robots depends on the physical size and weight of the localization system–physically heavy systems may degrade performance. In this paper, we present a compact, lightweight RTK‐GNSS device weighing under 40 g, which achieves centimeter‐level accuracy across different attitudes and dynamic situations. To enhance signal reception and positioning performance, we lessen noise levels in the power circuit and radio‐frequency signal conditioning using a low‐dropout regulator and low‐noise amplifier. Utilizing the configured device, we verified centimeter‐level accuracy through experiments of tracking an unmanned ground vehicle. The potential of the device is substantiated via three application scenarios—a localization of a moving human for a wearable device, a heading estimation of a mobile robot in stationary conditions, and practical field tests in various signal‐reception environments. Attributable to its compact dimensions and lightweight features, the proposed device can yield a low system strain while maintaining high accuracy and reliable performance, rendering it highly adaptable for various robotic applications.

中文翻译：

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用于户外移动机器人高精度定位的紧凑型 RTK-GNSS 设备

准确的位置信息对于确保服务机器人（例如现场车辆和农业机器人）的可靠性至关重要。这些实用机器人在运行过程中经常会遇到动态条件下波动或倾斜的地形。此外，移动机器人的性能取决于定位系统的物理尺寸和重量——物理重的系统可能会降低性能。在本文中，我们提出了一种紧凑、轻便的 RTK-GNSS 设备，重量低于 40 g，可在不同姿态和动态情况下实现厘米级精度。为了增强信号接收和定位性能，我们使用低压差稳压器和低噪声放大器来降低电源电路和射频信号调节中的噪声水平。利用配置的设备，我们通过跟踪无人地面车辆的实验验证了厘米级的精度。该设备的潜力通过三个应用场景得到证实：可穿戴设备的移动人体定位、静止条件下移动机器人的航向估计以及各种信号接收环境中的实际现场测试。由于其紧凑的尺寸和轻量化的特点，所提出的设备可以产生较低的系统应变，同时保持高精度和可靠的性能，使其高度适应各种机器人应用。