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Paper Abstract and Keywords
Presentation 2023-03-16 14:00
Drone flight experiment using RTK positioning
Naoki Yamada, Takefumi Hiraguri, Hiroyuki Shimizu (NIT), Tomotaka Kimura (Doshisha Univ..), Tomohito Shimada, Akane Shibasaki (SATRC), Yoshihiro takemura (Tottori Univ.) CQ2022-94
Abstract (in Japanese) (See Japanese page) 
(in English) In recent years, smart agriculture using ICT, IoT, and robotics technology has been attracting attention. In our related works, the pear pollination works technology using drones has being developed. The drones flies in pear fields, finds flowers for pollination, and then sprays pollen with high precision. In order to achieve these tasks, drone flight accuracy by positioning is required. Conventional outdoor drones fly using global navigation satellite system (GNSS), which receives signals from satellites and estimates their own position.
However, conventional positioning methods have an error of several meters to tens meters from indicated route. When flying the drones in the pear field, since it needs to fly through narrow spaces between trees with an accuracy into tens centimeters or less, flight control is very difficult. Therefore, in our study, in addition to GNSS position information, real time kinematic (RTK), which performs positioning correction at the ground station, is used to achieve positioning within a few centimeters in the pear field. In this paper, we explain the principle of positioning, and report on the development of a positioning system using RTK and the flight experiment of a drone.
Keyword (in Japanese) (See Japanese page) 
(in English) Drones / Positional measurement / RTK-GNSS / / / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 438, CQ2022-94, pp. 70-73, March 2023.
Paper # CQ2022-94 
Date of Issue 2023-03-08 (CQ) 
ISSN Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CQ2022-94

Conference Information
Committee IMQ IE MVE CQ  
Conference Date 2023-03-15 - 2023-03-17 
Place (in Japanese) (See Japanese page) 
Place (in English) Okinawaken Seinenkaikan (Naha-shi) 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Media of five senses, Multimedia, Media experience, Picture codinge, Image media quality, Network,quality and reliability, etc(AC) 
Paper Information
Registration To CQ 
Conference Code 2023-03-IMQ-IE-MVE-CQ 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Drone flight experiment using RTK positioning 
Sub Title (in English)  
Keyword(1) Drones  
Keyword(2) Positional measurement  
Keyword(3) RTK-GNSS  
1st Author's Name Naoki Yamada  
1st Author's Affiliation Nippon Institute Of Technology (NIT)
2nd Author's Name Takefumi Hiraguri  
2nd Author's Affiliation Nippon Institute Of Technology (NIT)
3rd Author's Name Hiroyuki Shimizu  
3rd Author's Affiliation Nippon Institute Of Technology (NIT)
4th Author's Name Tomotaka Kimura  
4th Author's Affiliation Doushisha University (Doshisha Univ..)
5th Author's Name Tomohito Shimada  
5th Author's Affiliation Saitama Agricultural Technology Research Center (SATRC)
6th Author's Name Akane Shibasaki  
6th Author's Affiliation Saitama Agricultural Technology Research Center (SATRC)
7th Author's Name Yoshihiro takemura  
7th Author's Affiliation Tottori (Tottori Univ.)
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Speaker Author-1 
Date Time 2023-03-16 14:00:00 
Presentation Time 25 minutes 
Registration for CQ 
Paper # CQ2022-94 
Volume (vol) vol.122 
Number (no) no.438 
Page pp.70-73 
Date of Issue 2023-03-08 (CQ) 

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