The article presents theoretical considerations and experimental results aimed at answering the question of whether relative GNSS (Global Navigation Satellite Systems) accuracy allows for the determination of spatial orientation angles for an autonomous UGV (Unmanned Ground Vehicle). The study utilized a pair of identical GNSS receivers operating in GPS, DGPS LF/MF, and EGNOS modes.The ambition of designers of autonomous UGV vehicles is for them to be able to replace humans in environments where operations are too dangerous for life or exceed human capabilities. Tasks performed by UGV robots in full autonomy mode pose enormous challenges for the vehicle’s navigation system. It must ensure high accuracy, reliability, continuity, and credibility of position, velocity, and spatial orientation angle determinations. The navigation process often takes place in an unknown environment, where both the surroundings and the placement of objects of interest—both static and dynamic—change dynamically.
The great variety of obstacles and environmental conditions makes the process of autonomous UGV navigation one of the most complex. One of the problems is determining the spatial orientation angles of a UGV robot. (…)
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Source: Logistyka Magazine