Proposal for Generation of a Pseudo GPS Signal Used in Indoor Mode for Navigation Testing of Small Autonomous Flying Robot
Abstract
In addition to the inertial navigation sensors embedded in an autonomous flying robot, Global Navigation Satellite Systems are most often used, in particular, the GPS (Global Positioning System). This offer information with an accuracy that depends on the arrangement of a constellation of satellites. It is very often that a measurement with errors of several meters is delivered by this system. With the need for agile decisions of the autonomous flying robot during its mission, especially in the case of rescuing people during disasters, it is not allowed for uncertainty to reign over the decision of the flying robot. In order to improve the estimators implemented experimentally, a secure laboratory test environment is more preferable. Here, we propose a way that helps researchers to conduct indoor experiments with a pseudo GPS that offers circumstances similar to outdoor navigation. The results that will be discussed are obtained with the Vicon motion tracker laboratory at Aalborg University, Denmark.
References
- Aniket, D., Kulkarni, Gaurav, G., Narkhede, Sumitra, N., Motade. (2022). Sensor fusion design by extended and unscented Kalman filter approaches for position and attitude estimation. International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). IEEE.
- Arnold, R. D., Yamaguchi, H., & Tanaka, T. (2018). Search and rescue with autonomous flying robots through behavior-based cooperative intelligence. Journal of International Humanitarian Action 3(1).
- Balaguer, B., & Carpin, S.(2008). Where am I? A simulated GPS sensor for outdoor robotic applications. International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR: Simulation, Modeling, and Programming for Autonomous Robots, 222–233.
Details
| Primary Language | English |
|---|---|
| Subjects | Software Engineering (Other) |
| Journal Section | Articles |
| Authors | |
| Early Pub Date | December 26, 2023 |
| Publication Date | December 30, 2023 |
| Published in Issue | Year 2023Volume: 26 |
Cite
