Proposal for Generation of a Pseudo GPS Signal Used in Indoor Mode for Navigation Testing of Small Autonomous Flying Robot

Abstract

In addition to the inertial navigation sensors embedded in an autonomous flying robot, Global Navigation Satellite Systems are most often used, in particular, the GPS (Global Positioning System). This offer information with an accuracy that depends on the arrangement of a constellation of satellites. It is very often that a measurement with errors of several meters is delivered by this system. With the need for agile decisions of the autonomous flying robot during its mission, especially in the case of rescuing people during disasters, it is not allowed for uncertainty to reign over the decision of the flying robot. In order to improve the estimators implemented experimentally, a secure laboratory test environment is more preferable. Here, we propose a way that helps researchers to conduct indoor experiments with a pseudo GPS that offers circumstances similar to outdoor navigation. The results that will be discussed are obtained with the Vicon motion tracker laboratory at Aalborg University, Denmark.