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Questions tagged [gps]

GPS (Global Positioning System) is an outdoor localization system that measures time of flight of a radio signal from a number of satellites in earth orbit.

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GPS + IMU fusion frame without magnetometer

I am trying to implement the Kalman filter for GPS + IMU fusion. I have the position and velocity (at a low rate) from the GPS module. I further have the accelerometer and gyroscope output in the IMU ...
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0answers
52 views

ZED stereo camera with TX1 for NON-GPS RTL

My question is regarding ArduPilot firmware specific to copter. It is mentioned in the ardupilot documentation that ZED camera may be used as an alternative to GPS based navigation. It actually holds ...
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1answer
20 views

Drones classification based on flying mechanism and communication link

I am confused about autonomous drone flight. Thats why I am asking the question here so that a drone expert can help me to understand. I have heard about tow kinds of drone drones that work through ...
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0answers
40 views

Easy cm accurate GNSS / GPS for rover with base station? [closed]

I am trying to design a system to measure snow depth during snow production on a tiny ski resort in Denmark. My idea is simple: Drive a rover over the ground during the summer, and obtain height ...
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0answers
86 views

IMU GPS integration (full state implementation)

Hi all, I'm trying to implement 'total state IMU/GPS Kalman filer' The state will be not the error state, but the total state: [attitude, velocity, position, accel bias, gyro bias]. Can anyone help ...
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0answers
91 views

Kalman filter for slow ground vehicle with RTK

I have been using dual RTK receivers for my tractor projects. This gives me reliable position, heading, and tilt at low rates (10 Hz). I recently began working with an INS (an Advanced Navigation ...
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0answers
20 views

GNSS-aided IMU calibration

I have a physical system that consists of a GNSS receiver and an inertial measurement unit (IMU) with accelerometer and gyroscope. I would like to determine to some level of precision the angular and ...
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2answers
77 views

What are good options for modifying drones?

I'm apart of a group at my University where we would like to build a drone/UAV and constantly add and modify parts on it. We were thinking of using an Arduino or raspberry pi, but we really don't ...
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26 views

Do I need differential GPS for finding a base station?

I have a setup with a base station and a robot which uses GPS to navigate to said station. To improve accuracy, I was thinking of using differential GPS. As far as I understood, DGPS uses some ...
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1answer
109 views

GPS/ 1GYRO - 2D + ACCEL+GPSEKF

I am trying to integrate GPS and IMU but as a first step I am trying to use just 1d gyro and 2d accelerometer to work. Below is my model - State model and propagation So, my question is .. after ...
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0answers
36 views

Create a dummy GPS

Im currently working on a small robot that uses an ardupilot for its control. As Im working indoor, I can't use a real GPS so I'm making a dummy GPS based on UWB. From UWB I get a position at +/- ...
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0answers
24 views

Robotic vessel navigation using GIS datasets

I am trying to build an autonomous vessel able to plan the best route to a certain waypoint or to follow a pre-defined route. Currently, I have imported Esri GIS files containing elevation data (...
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1answer
273 views

I fused a GPS and IMU and I am wondering if my results make sense

I am trying to fuse a ublox M8 (https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_(UBX-13003221)_Public.pdf) with a MicroStrain IMU (http://www.microstrain....
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1answer
299 views

How to build an autonomous navigation system for robots?

I like to know can we make a web site or application(or using something free like google map) to routing a way and our robot can follow the line exactly? For example I like to build a quad-copter and ...
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1answer
2k views

Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the ...
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0answers
321 views

Loosely coupled GNSS IMU integration

I am trying to integrate a GPS and IMU via a loosely coupled integration. My state is the position and velocity vector. I am using the following equations for the nav frame mechanization. I am ...
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1answer
56 views

Differential GPS

I want to use DGPS on a robot. I understand how DGPS works but I am having trouble figuring out what specific hardware I need. Is there a good resource for how to actually setup DGPS? Thanks for your ...
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1answer
3k views

Ardupilot on Raspberry Pi

I'm making a quadcopter for the first time and want to be as low cost as possible, and when it comes to flight controllers APM is the best open-source project, and is compatible with Raspberry Pi. My ...
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3answers
844 views

Does multiple IMU increase accuracy

I'm just starting up with IMU's and I really want to work on my own flight controller, but a question always hits my mind and I am not able to find answer anywhere, so I'm here. Will multiple IMUs ...
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1answer
43 views

Confused about time systems in ephemeris computation (from GPS subframes)

I am using the gnss-sdr library to compute ephemeris from the GPS message, and to try to make sense of things, I am reading the well-known IS-GPS-200E specification. To compute ephemeris, the time ...
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2answers
283 views

GPS message: compute ephemeris data and pseudo-ranges from subframes

I have raw GPS data (see end of the question for details if you think the protocols are relevant), and I need to extract/compute ephemeris and pseudoranges (my goal is to replace the recursive least ...
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1answer
29 views

Recording GPS position [closed]

I build 3d models using Agisoft and need to record the position of the Ground Control Points as accurately as possible, latitude , longitude and altitude. What is the best way of doing this?
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1answer
161 views

Cheapest GPS that is accurate to ca. 30cm in woodland

As part of my PhD field work it would be useful to have latitude/longitude measurements for the locations of ant nests that I am working on. These ant nests can be as close as 50cm together so the ...
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2answers
4k views

Kalman Filter GPS + IMU

I know this probably has been asked a thousand times but I'm trying to integrate a GPS + Imu (which has a gyro, acc, and magnetometer) with an Extended kalman filter to get a better localization in my ...
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3answers
964 views

Integrating GPS into Graph SLAM (how orientation fixed?)

I'm working on Graph SLAM to estimate robot poses (x, y, z, roll, pitch, yaw). Now I want to integrate GPS measurement (x, y, z, of course no angles). I implemented GPS as pose's prior. But I have a ...
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2answers
431 views

Differential GPS or Simple GPS for Robot navigation and odometry?

I am building a rover which can navigate autonomously. I do not want to use wheel encoders for generating robot odometry since it causes drifts due to slippage etc. I want to use GPS for generating ...
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3answers
990 views

Conversion GPS (longitude,latitude) to (x,y) of local reference frame?

I would like to use GPS data as measurement input for an extended kalman filter. Therefore I need to convert from GPS longitude and lattitude to x and y coordinate. I found information about the ...
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1answer
77 views

All-in-one GNSS localization solution (hardware+software) [closed]

Is there something like an all-in-one satellite based localization solution that would contain both hardware and software to do GNSS localization for robotics? I mean a package that would also contain ...
4
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1answer
436 views

Measuring vehicle's forward and lateral acceleration using a smartphone [closed]

I want to measure the acceleration (forward and lateral separately) using an android smartphone device in order to be able to analyse the driving behavior. My approach would be as follows: 1. ...
3
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2answers
469 views

Quadcopter heading calculation

I'm working on an autonomous quad copter, I have two GPS co-ordinates (source and destination co-ordinates). I need to move my quad from the source to the destination, for this I need to calculate the ...
5
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3answers
1k views

imu position without GPS or camera

I have a IMU that has 3-axis accelerator, 3-axis magnetometer, 3-axis gyroscope and row, yaw, pitch value. I want to get the location of the IMU coordinate(the beginning point is (0,0,0)) but I know ...
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2answers
292 views

Path following with precise positioning system (RTK) [closed]

Is there any general problem in using precise positioning (centimeter-accurate GNSS RTK system meant) for autonomous car guidance given I have a predefined path the car should follow? I mean, ...
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3answers
1k views

How to have a 'Auto Go Home' feature, like the DJI Phantom 3, on a project built quadcopter?

What should a quadcopter have, or have access to, in order to make this 'return home' feature work? Is GPS enough? What is the approach needed to make this happen? I used a Arduino Mega 2560 with IMU ...
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0answers
60 views

PixHawk or Naza M V2 for Aerial Imaging of Small Study Area with Hexacopter [closed]

I have a project that is going to involve capturing ~80 images of a 35m x 50m agricultural study area for image processing. I am wondering whether to use a NAZA v2 or PixHawk controller to outfit my ...
5
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2answers
14k views

Open source implementations for GPS+IMU sensor fusion?

Are there any Open source implementations of GPS+IMU sensor fusion (loosely coupled; i.e. using GPS module output and 9 degree of freedom IMU sensors)? -- kalman filtering based or otherwise. I did ...
4
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1answer
491 views

Solution for INS and GPS integration

I have a GPS module and an IMU (gyro, accelerometer and magnetometer) and I need to build an autonomous navigation system for a quadcopter. It must know its position at any time so that it can track a ...
3
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1answer
567 views

Are there off the shelf solutions for GPS+INS (accelerometer,gyro,magneto) sensor fusion for getting filtered/fused location and speed output?

I am working on a project that needs tracking location and speed of pedestrians/runners/athletes (so not really robotics, but I see a lot of related usage and posts in the robotics domain, and an ...
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1answer
138 views

How would I implement a following drone with a camera using GPS?

As the title states, is there any way to make a following drone that tracks a GPS unit, and follows/orients camera to that? Similar to this
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1answer
1k views

What is the difference between Positioning and Localization Systems

I would like to know what are the differences between Positioning and Localization Systems. In most review papers they are used interchangeably. Are they the same? For example: GPS(Global Positioning ...
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0answers
565 views

Datalogging from Arduino Mega to Dropbox

I have an Arduino Mega board and the Adafruit Ultimate GPS Logger + GPS module shield. I have these two connected together using headers and have the entire thing mounted on my drone. Currently, I ...
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0answers
436 views

Fusion of GNSS position data and prefused 9-dof AHRS data

Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear ...
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1answer
41 views

Sending a smartphone's GPS wireless

I'm building camera device which is able to take pictures of paragliders in mid air. To let the camera know where the glider is I thought about using GPS data from the pilot's smartphone. My ...
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0answers
517 views

Correcting GPS track with visual odometry (sensor fusion)

I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or ...
8
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5answers
19k views

Low-cost centimeter accurate satellite positioning (GNSS/GPS)

I am looking for a cheapest possible GPS setup with a centimeter precision without much HW hacking. I am not able to produce my PCB or do any soldering (though I would do that if there is no other way)...
3
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1answer
737 views

Kalman filter Issue - GPS Odometry Fusion

I am working on estimating a robots pose using Odometry and GPS. My first problem is that all kinematic model i have seen for a differential drive robot proposes using the displacement of the left ...
4
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1answer
493 views

Solutions for Finding Position and Heading in a Multi-Level House

I was wondering if you could reccomend possible solutions for locating a robot within a multilevel house. What seems obvious to me is that need an altitude sensor to derive the story the robot, and a ...
3
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1answer
435 views

2D Map representation of GPS coordinates in degrees

I want to implement my own GPS navigation for a quad-copter. I can calculate and filter the GPS coordinates (latitude and longitude in degrees). I believe the easiest approach for me would be, to ...
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2answers
281 views

GPS Amplifier - Is this reliable?

I'm multimedia developer who is searching for a way to get GPS signal inside buildings/structures. Is amplification a reliable way to fix this GPS signal issue? Will a "GPS Amplifier" work as ...
4
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1answer
390 views

Overcorrecting Kalman Filter

I'm trying to get an extended Kalman Filter to work. My System Model is: $ x = \begin{bmatrix} lat \\ long \\ \theta \end{bmatrix}$ where lat and long are latitude and longitude (in degree) and $\...
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2answers
591 views

Are there any GPS sensors that provide data at 1Hz or faster?

I searched for GPS devices that provide 1 sec updates to server, but I have not found any. I found this T=30s.Module has sent a monitoring data packet. After 12 seconds the server sends an ...