Development of a Low-Cost Smart Sensor GNSS System for Real-Time Positioning and Orientation for Floating Offshore...

A low-cost smart sensor GNSS system has been developed to provide accurate real-time position and orientation measurements on a floating offshore wind platform. The approach chosen to offer a viable and reliable solution for this application is based on the use of the well-known advantages of the GNSS system as the main driver for enhancing the accuracy of positioning. For this purpose, the data reported in this work are captured through a GNSS receiver operating over multiple frequency bands (L1, L2, L5) and combining signals from different constellations of navigation satellites (GPS, Galileo, and GLONASS), and they are processed through the precise point positioning (PPP) and real-time kinematic (RTK) techniques. Furthermore, aiming to improve global positioning, the processing unit fuses the results obtained with the data acquired through an inertial measurement unit (IMU), reaching final accuracy of a few centimeters. To validate the system designed and developed in this proposal, three different sets of tests were carried out in a (i) rotary table at the laboratory, (ii) GNSS simulator, and (iii) real conditions in an oceanic buoy at sea. The real-time positioning solution was compared to solutions obtained by post-processing techniques in these three scenarios and similar results were satisfactorily achieved.