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Title
PORTING GOGPS FROM MATLAB TO JAVA: PERFORMANCE ANALYSIS, TESTS AND RESULTS
Abstract
goGPS is an application for achieving sub-meter accuracy with low-cost GPS receivers, mainly through the use of RTK positioning, Kalman filtering, DTM aid and network-constrained navigation. It aims on one hand to achieve optimal positioning with the miniaturized GPS devices commonly used for car and personal navigation, on the other hand to lower instrumentation costs by substituting proprietary hardware (e.g. GPS chipsets) with open source positioning software. goGPS can work either in real-time or post-processing, by acquiring raw GPS data in input and providing positioning (i.e. coordinates) in output. Though originally developed in MATLAB and targeted to a research-oriented environment, goGPS was recently ported to Java in order to allow a wider user base to develop and use it. Since real-time GPS positioning heavily relies on fast matrix computation, a careful selection of Java matrix libraries was carried out in order to obtain optimal performances. A client-server architecture was also developed and tested in order to let lightweight clients just acquire raw GPS data, send them to a server for processing and receive back the accurate positioning. The Java version of goGPS is being developed as an open source collaborative project, on the wave of a constructive synergy between universities and private companies both in Europe and Japan.
Authors
Eugenio Realini - Osaka City University
Daisuke Yoshida - Tezukayama Gakuin University
Lorenzo Patocchi - CRYMS Sagl
Mirko Reguzzoni - OGS c/o Politecnico di Milano
Venkatesh Raghavan - Osaka City University
