/Integrated-Navigation-for-Robotics

This is part of a group project for a master module. We are looking at the problem of integrated navigation of a robotic lawnmower, using GNSS and Dead Reckoning (DR) sensor data.

Primary LanguageMATLAB

Integrated-Navigation-for-Robotics

In this report, we document our solution for the coursework. We are looking at the problem of integrated navigation of a robotic lawnmower, using GNSS and Dead Reckoning (DR) sensor data. Our approach has 4 pillars: 1) initialising the position using GNSS 2) Outlier Detection in the data 3) use Kalman filter for the GNSS only positioning 4) use DR data to create a DR only solution, then integrate it with the GNSS positions using Kalman filter.

Some Results:

GNSS Only GNSS_only

Dead reckoning DR_only

Integrated with Outlier Detection Integraded_only_final