Abstract: The important development direction of the environment reconnaissance robot system is to form multi robots network distributing configuration.In the collaboration and navigation of multi robots，the accurate location of robots is very important.With the development of the difference GPS（DGPS），it is very common to be used to locate robots，but with the length of the baseline increasing，the precision of the routine DGPS will decrease.In this paper，the virtual reference station（VRS） is constructed through multi robots system，and the algorithm of DGPS is researched based on the VRS，which can avoid the defect brought by the routine DGPS and make robots move in a large zone with a average and reliable precision.Through the GPS static observation data，the effect of the algorithm is validated.

摘要： 环境勘测机器人系统的一个重要发展方向是形成多机器人网络分布式结构，在这些多机器人的协作与导航中，机器人的精确定位一直是研究的热点问题，随着差分GPS技术的发展，其应用于机器人的定位非常普及，但随着基线长度的增加，常规差分GPS定位精度将随之降低，为此，利用多机器人自有资源建立差分GPS虚拟参考站（Virtual Reference Station，VRS），研究了基于VRS的差分GPS定位算法，它能够有效地克服常规差分GPS存在的缺陷，使移动机器人能够便捷地在较大空间范围内获得均匀、高精度和可靠的定位结果。该算法采用了GPS静态观测数据做模拟实验，其结果验证了该算法的有效性。