Method for marking a ground surface using a robot unit and a local base station, the system therefore and use thereof

A method for marking a ground surface according to a predefined marking pattern comprising:

• providing a system reference point, wherein the system reference point is established by a local base station;
• providing at least one flag point configured as physical points and/or as positioning data;
• receiving global positioning data of a robot unit using a robot GNSS receiver;
• receiving global positioning data of the local base station using a base GNSS receiver;
• providing a flag point position for the at least one flag point;
• providing instructions to move the robot unit according to a driving route for the robot unit comprising the predefined marking pattern;
• calculating a current position of the robot unit using the received global positioning data of the robot unit, and
• providing a corrected moving direction of the robot unit according to the driving route using the calculated current position of the robot unit,
• wherein
• the predefined marking pattern is arranged relative to the at least one flag point position;
• the current position of the robot unit is calculated using the received global positioning data of the robot unit and position correction data from the local base station, and
• the local base station communicates with the robot unit using a radio signal or a cellular data signal.

A method of initializing a system for marking a ground surface according to a predefined marking pattern, comprising:

• providing a system reference point, wherein providing the system reference point includes receiving, by a fixed local base station, global positioning data of the fixed local base station using a base GNSS receiver, wherein the global positioning data is received from a subset of satellites,
• providing global positioning data of a robot unit using a robot GNSS receiver, wherein the base GNSS receiver and robot GNSS receiver use a common subset of satellites from which they receive the global positioning data, and
• providing, relative to the system reference point, at least one flag point position and a driving route for the robot unit,
• wherein the predefined marking pattern to be marked on the ground surface is arranged relative to the at least one flag point position.