Implementación de un sistema de posicionamiento INS/GPS con la tarjeta de desarrollo PIXHAWK para la navegación de un vehículo autónomo terrestre.

Abstract

The objective of the research was to analyze and compare the level of precision of the Global Positioning System (GPS) versus GPS coupled with inertial sensors, to determine the meaning of them offered greater precision in following an established path executed by an autonomous land vehicle designed and implemented for this purpose. The system for this investigation consists of an autonomous land vehicle that uses the Pixhawk flight controller, detecting the use of internal sensors such as magnetometer and accelerometer, as well as external peripherals coupled to it, such as GPS Module, Telemetry System and decoding for the remote control. For the development of the tests, two paths were established for them to be executed by the vehicle, one in the "Sesquicentenary" park and the other in the "Student Park" of the ESPOCH, both sites located in the city of Riobamba- Ecuador, as First and Second Scenario respectively. The precision of the monitoring of the reference route was measured and analyzed according to situations that activate and deactivate the inertial sensors. The hours of the day considered for the tests were 12:00 and 20:00 for the characteristics presented by the Atmosphere due to the incidence of solar rays, which are a determining factor in the attenuation of the GPS signal. It was confirmed that the GPS / INS system improves in precision approximately up to 79% in the first scenario, and up to 100% in the second scenario, while at night improvements of up to 16% and 10% respectively were achieved.