Sensors and Methods for Mobile Robot Positioning

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84 Part I Sensors for Mobile Robot Positioning 3.3.3.1 Static test results Static testing was conducted at a surveyed location at Sandia National Laboratories' Robotic Vehicle Range (RVR). The position of the surveyed location is described in Table 3.10. Table 3.10: Location of the surveyed point at the Sandia Robotic Vehicle Range. (Courtesy of [Byrne, 1993].) Surveyed Latitude Surveyed Longitude 35 02 27.71607 (deg min sec) 106 31 16.14169 (deg min sec) 35.0410322 (deg) 106.5211505 (deg) The data for the results presented here was gathered on October 7 and 8, 1992, from 2:21 p.m. to 2:04 p.m. Although this is the only static data analyzed in this report, a significant amount of additional data was gathered when all of the receivers were not functioning simultaneously. This previously gathered data supported the trends found in the October 7 and 8 test.The plots of the static position error for each receiver are shown in Figure 3.11. A summary of the mean and standard deviation ()) of the position error for the different receivers appears in Table 3.11. Table 3.11: Summary of the static position error mean and variance for different receivers. (Courtesy of [Byrne, 1993].) Receiver Mean position error Position error standard deviation (meters) (feet) (meters) (feet) Magellan 33.48 110 23.17 76 Magnavox GPS Engine 22.00 72 16.06 53 Rockwell NavCore V 30.09 99 20.27 67 Magnavox 6400 28.01 92 19.76 65 Trimble Placer 29.97 98 23.58 77 It is evident from Table 3.11 that the Magnavox GPS Engine was noticeably more accurate when comparing static position error. The Magellan, Rockwell, Magnavox 6400, and Trimble Placer all exhibit comparable, but larger, average position errors. This trend was also observed when SA was turned off. However, a functioning Rockwell receiver was not available for this test so the data will not be presented. It is interesting to note that the Magnavox 6400 unit compares well with the newer receivers when looking at static accuracy. This is expected: since the receiver only has two channels, it will take longer to reacquire satellites after blockages; one can also expect greater difficulties with dynamic situations. However, in a static test, the weaknesses of a sequencing receiver are less noticeable.
Chapter 3: Active Beacons 85 a. Magellan b. Magnavox GPS Engine. c. Rockwell NavCore V. d. Magnavox 6400. Figure 3.11: Static position error plots for all five GPS receivers. (Courtesy of Byrne [1993]). e. Trimble Placer.
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7KH8QLYHUVLW\RI0LFKLJDQ Where am I?
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Acknowledgments This research was s
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2.4.2.2 Watson Gyrocompass ........
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6.4 Summary .......................
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INTRODUCTION Leonard and Durrant-Wh
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Part I Sensors for Mobile Robot Pos
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14 Part I Sensors for Mobile Robot
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CHAPTER 2 HEADING SENSORS Heading s
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R e t r o r e f l e c t i v e m a r
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CHAPTER 8 MAP-BASED POSITIONING Map
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218 Appendices, References, Indexes
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220 Appendices, References, Indexes
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Systems-at-a-Glance Tables Odometry
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Systems-at-a-Glance Tables Global N
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Systems-at-a Glance Tables Beacon N
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Systems-at-a-Glance Tables Landmark
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REFERENCES 1. Abidi, M. and Chandra
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238 References 31. Boltinghouse, S.
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240 References MOBOT-IV.” Proceed
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242 References 90. Dahlin, T. and K
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244 References 120. Fisher, D., Hol
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246 References 156. Janet, J., Luo,
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248 References 187. Larsson, U., Ze
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250 References 220. Nolan, D.A., Bl
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252 References 249. Sanders, G.A.,
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254 References 278. Turpin, D.R., 1
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256 References 309. EATON - Eaton-K
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258 References 349. SPSi - Spatial
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260 References 380. MacKenzie, P. a
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262 Index AC ..............47, 59,
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264 Index Datums ..................
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266 Index glass ...................
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268 Index lateral-post ............
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270 Index NPN .....................
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272 Index signal ..... 17, 31, 38,
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274 Index Abidi ...................
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280 Index Video Index This CD-ROM c
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282 Index Paper 52 Paper 53 Paper 5
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