Using DGPS to locate a lawnmower robot

Detalhes bibliográficos
Autor(a) principal: Castro, Diogo Sousa
Data de Publicação: 2021
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10773/34128
Resumo: There are GNSS sensors that can achieve an accuracy to the centimeter, RTK-GPS, however they are very expensive systems, with limited stock and dominated by only one supplier, with limited support. This master’s thesis aims to study and test the accuracy of a differential GPS system to be applied to the Indego, a lawnmower robot. The system was proposed by (Svatoñ, 2016) using low-cost GNSS receivers, ideal for implementation in lawn mowing robots without significantly increasing their cost. The system contains two distinct parts, the base and the mobile. The base has a fixed location and evaluates the differences between its position and the measured position. The mobile part is intended to be applied to Indego and as such its location is variable. The system is composed of 2 equal GPS receivers, 2 microcontrollers that communicate wirelessly, 2 different antennas, the base has the antenna with higher gain and higher bandwidth. To evaluate the accuracy of the system 3 different tests were performed, the first being a test with the fixed system to evaluate the performance of the receivers. In the second test the mobile part of the system was placed in an Indego and a special square-shaped cutting mode was activated. The last one consists of a trapezoid traversed by the mobile part to evaluate the performance of the system in more distant positions. The results obtained are similar to those published by (Svatoñ, 2016) and by (Kim, 2013).
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spelling Using DGPS to locate a lawnmower robotGPSDifferential GPSDGPSAccuracy DGPSThere are GNSS sensors that can achieve an accuracy to the centimeter, RTK-GPS, however they are very expensive systems, with limited stock and dominated by only one supplier, with limited support. This master’s thesis aims to study and test the accuracy of a differential GPS system to be applied to the Indego, a lawnmower robot. The system was proposed by (Svatoñ, 2016) using low-cost GNSS receivers, ideal for implementation in lawn mowing robots without significantly increasing their cost. The system contains two distinct parts, the base and the mobile. The base has a fixed location and evaluates the differences between its position and the measured position. The mobile part is intended to be applied to Indego and as such its location is variable. The system is composed of 2 equal GPS receivers, 2 microcontrollers that communicate wirelessly, 2 different antennas, the base has the antenna with higher gain and higher bandwidth. To evaluate the accuracy of the system 3 different tests were performed, the first being a test with the fixed system to evaluate the performance of the receivers. In the second test the mobile part of the system was placed in an Indego and a special square-shaped cutting mode was activated. The last one consists of a trapezoid traversed by the mobile part to evaluate the performance of the system in more distant positions. The results obtained are similar to those published by (Svatoñ, 2016) and by (Kim, 2013).Existem sensores de GNSS que conseguem atingir uma precisão ao centímetro, RTK-GPS, contudo são sistemas muito dispendiosos, com um stock limitado e dominados apenas por um fornecedor, com suporte limitado. Esta dissertação de mestrado tem o objetivo de estudar e testar a precisão de um sistema GPS diferencial para ser aplicado no Indego, um robot corta relva. O sistema foi proposto por (Svatoñ, 2016) utilizando recetores de GNSS de baixo custo, o ideal para implementação em robots corta relva sem aumentar significamente o seu custo. O sistema contêm duas partes distintas, a base e a móvel. A base tem uma localização fixa e avalia as diferenças entre a sua posição e a posição medida. A parte móvel é pensado para ser aplicada no Indego e como tal a sua localização é variável. O sistema é composto por 2 recetores de GPS iguais, 2 microcontroladores que comunicam sem fios, 2 antenas distintas, a base tem a antena com maior ganho e maior banda. Para avaliar a precisão do sistema foram efetuados 3 testes diferentes, sendo o primeiro um teste com o sistema fixo para avaliar o desempenho dos recetores. No segundo teste foi colocado a parte móvel do sistema num Indego e ativado um modo especial de corte com o formato de quadrado. O último consiste num trapézio percorrido pela parte móvel para avaliar o desempenho do sistema em posições mais distantes. Os resultados obtidos são parecidos com os publicados por (Svatoñ, 2016) e por (Kim, 2013).2023-12-20T00:00:00Z2021-12-20T00:00:00Z2021-12-20info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/34128engCastro, Diogo Sousainfo:eu-repo/semantics/embargoedAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T12:05:47Zoai:ria.ua.pt:10773/34128Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:05:28.505702Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Using DGPS to locate a lawnmower robot
title Using DGPS to locate a lawnmower robot
spellingShingle Using DGPS to locate a lawnmower robot
Castro, Diogo Sousa
GPS
Differential GPS
DGPS
Accuracy DGPS
title_short Using DGPS to locate a lawnmower robot
title_full Using DGPS to locate a lawnmower robot
title_fullStr Using DGPS to locate a lawnmower robot
title_full_unstemmed Using DGPS to locate a lawnmower robot
title_sort Using DGPS to locate a lawnmower robot
author Castro, Diogo Sousa
author_facet Castro, Diogo Sousa
author_role author
dc.contributor.author.fl_str_mv Castro, Diogo Sousa
dc.subject.por.fl_str_mv GPS
Differential GPS
DGPS
Accuracy DGPS
topic GPS
Differential GPS
DGPS
Accuracy DGPS
description There are GNSS sensors that can achieve an accuracy to the centimeter, RTK-GPS, however they are very expensive systems, with limited stock and dominated by only one supplier, with limited support. This master’s thesis aims to study and test the accuracy of a differential GPS system to be applied to the Indego, a lawnmower robot. The system was proposed by (Svatoñ, 2016) using low-cost GNSS receivers, ideal for implementation in lawn mowing robots without significantly increasing their cost. The system contains two distinct parts, the base and the mobile. The base has a fixed location and evaluates the differences between its position and the measured position. The mobile part is intended to be applied to Indego and as such its location is variable. The system is composed of 2 equal GPS receivers, 2 microcontrollers that communicate wirelessly, 2 different antennas, the base has the antenna with higher gain and higher bandwidth. To evaluate the accuracy of the system 3 different tests were performed, the first being a test with the fixed system to evaluate the performance of the receivers. In the second test the mobile part of the system was placed in an Indego and a special square-shaped cutting mode was activated. The last one consists of a trapezoid traversed by the mobile part to evaluate the performance of the system in more distant positions. The results obtained are similar to those published by (Svatoñ, 2016) and by (Kim, 2013).
publishDate 2021
dc.date.none.fl_str_mv 2021-12-20T00:00:00Z
2021-12-20
2023-12-20T00:00:00Z
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