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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How to use Nav2, slam_toolbox with odom data, gps and imu sensors?

Setup details: ROS2 foxy on amd64 architecture CPU with nav2 and slam_toolbox installed Robot is Clearpath husky with Velodyne VLP-16 lidar, IMU and GPS sensor in gazebo. Can see data on every topic ...
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How do I handle yaw wrapping when implementing a simple GPS lever arm correction?

I am trying to implement a lever arm correction. I have an aircraft with a gps antenna which is displaced from an on-board sensor whose GPS position I would like to know. I have the distance from the ...
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Why does the HG4930 IMU have better specifications than the HG1700, even though it's almost certainly worse?

I was browsing and looking at different IMUs and came upon the following Honeywell page: https://aerospace.honeywell.com/us/en/learn/products/sensors/inertial-measurement-units There they have a table ...
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Aligning the coordinate systems of accelerometer and vehicle

I have an accelerometer located in an arbitrary position on a car. As the accelerometer already has a coordinate system by default, I want to find some method that allows transforming the data I have ...
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Locating nearest device position

I have the following use case: Given a set of points in a space, I would like to use a smartphone to detect and locate the closest point (Possibly accurate to the at least a meter range) I am not ...
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Determine road curvature radius using non GPS sensors

I’m trying to solve for the “curvature” of a road, and wondering if this can be done with a standard mobile phone. If I have a mobile phone fixed onto my vehicles windscreen, using only standard ...
2 votes
2 answers
293 views

GPS+IMU sensor fusion not based on Kalman Filters

Do you know any papers on or implementations of GPS + IMU sensor fusion for localization that are not based on an EKF (Extended Kalman Filter) or UKF (Unscented Kalman Filter)? I'm asking is because ...
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how to calculate the accuracy of data received from RTK-GPS?

I have received data from an RTK-GPS, in an environment free from buildings and other GPS obstructions. the covariance of these data is 0.01. now I do not know this is good or not? How can I find out ...
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Scale factor of Monocular SLAM (Simultaneous Localization and Mapping )

I am using ORB-SLAM3 with a monocular camera on a drone for Augmented Reality application. I need to know the absolute scale of the map formed by the SLAM. I cannot use a stereo or RBG-D setup. Tthe ...
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Faulty GPS data on Serial Monitor

I am trying to interface Stonex S900A GPS with nVidia TX2 which has ROS melodic installed. The GPS data cable is a DB9 type (RS232). I connected a DB9 to USB converter with the cable and connected it ...
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Localization and Mapping in a Small Crop Field

I have a small crop field inside my house and I want to create a map of it. The goal is to create a map so that I can monitor the growth of the plants and do some post processing to analyze the ...
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GPS Course vs IMU Course

Im currently working with Kalman Filter for position and velocity, one of the important parameters that im using is the heading that the sensor fusion of the imu gives me, but i have seen that the GPS ...
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Do I need the same RTK reciever if I want to implement RTK?

I bought an RTK receiver, only one because I wanted to do some testing before I invested in two receivers. I found one I like more, but if I have two different recievers will the accuracy be reduced ...
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IMU-Camera Senor Fusion

I am working on fusing IMU and Camera Sensor Fusion for the Drone to precisely land on the target location. With the Camera, I am tracking the April Tag which is on the ground. This gives me the x,y,z ...
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To calculate roll,pitch and yaw

How do I calculate roll,pitch and yaw value from the position co ordinates of the drone, that is x,y and z from the gps sensor??? Using the x,y and z co ordinates I have to calculate roll,pitch and ...
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Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
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How does sensor fusion help in robot localization

Good day... Sorry for bigner quesion, but really I need some friendly explanation rather than long reference I have 9 dof mpu9250 imu and gps. I found some source that calculate euler angle in ardunio ...
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1 answer
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How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?

I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
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why we need both vel and acc contribution for actual position?

I was trying to understand multiwii quadcopter code. I started with understanding GPS code. Here is a section of the code where I have doubt. Why actual position = pos + velocity contribution + ...
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1 answer
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Can drone fly in predefined fixed trajectory without GPS

Is it possible to make a drone to fly in fixed altitude and move in fixed trajectory without GPS. (Drone has to move in fixed path which is already defined). I am saying without GPS because drone has ...
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A Delivery Drone

I'm building a delivery drone as my final year project. A drone that can deliver a package to offices around my small town autonomously, for my final year project. I would like to know how this drone ...
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1 answer
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Integreation Method In Dr with 3 Sources

I'm searching a navigation method to find my location while dead reckogning (gps signals jammed) with an imu and gsm based navigation results. In short i have 3 sources: Gsm Based Navigation ( gives ...
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Autonomous Navigation Bot [duplicate]

I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
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Navigation - GPS + IMU; how to make it more accurate?

Currently, I am trying to navigate a small robot car to point A from my current position. The car has a GPS sensor and a BNO055 IMU(Gyro + Mag + Acc). I know the GPS co-ordinates of point A. Using the ...
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3 votes
1 answer
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How is the GPS fused with IMU in a kalman filter?

I've been trying to understand how a Kalman filter used in navigation without much success, my questions are: The gps outputs latitude, longitude and velocity. While the IMU outputs acceleration and ...
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How to accurately navigate from one GPS coordinate to another using just GPS & IMU? [duplicate]

I'm looking for ways to accurately navigate from one GPS location to another. I have a GPS sensor and an IMU. I can calculate the distance with the help of GPS I believe and with the help of ...
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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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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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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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2 answers
232 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 ...
2 votes
1 answer
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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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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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4 votes
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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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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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3 votes
1 answer
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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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1 answer
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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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1 vote
1 answer
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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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3 votes
1 answer
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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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3 answers
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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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1 answer
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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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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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1 answer
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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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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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6 votes
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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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3 votes
3 answers
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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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1 vote
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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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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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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 ...
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3 votes
1 answer
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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. ...
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2 votes
2 answers
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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 ...
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