Robotic Navigation in GPS-Denied Environments Using the Strapdown Navigation Algorithm with Zero-Velocity Updates
Abstract
GPS-denied environments, including indoor, urban canyon, and shipboard settings, present difficulties for autonomous robot navigation. One navigation solution in GPS-denied environments is to incorporate inertial sensors; however, due to sensor noise and calibration error, the accumulation of position error, or drift, causes the position estimate from inertial sensors to fail after a period of time. This thesis aimed to determine the viability of a pedestrian algorithm, which incorporates the zero-velocity update, to address the error and calculate distance traveled by a mobile robot in a GPS-denied environment. This work focused on indoor navigation using various sensors to provide data to the algorithm to calculate estimated distance traveled. Experiments were constructed and performed using a cart, robot, and mounted sensors in three laboratory settings: across the ground with preset distances, on an instrument rail track, and in an optical tracking environment. Tests conducted with the sensors determined that a system traveling above a minimum velocity threshold up to three meters can effectively implement a pedestrian tracking algorithm given known quaternion values. Adding a native means of determining system angles will allow this solution to be applied in more environments.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 2020
- Accession Number
- AD1114558
Entities
People
- Samuel S. Druen
Organizations
- Naval Postgraduate School