bessman / navbot Goto Github PK

Hi Alexander

Trust that you are well

I managed to borrow a C94 EVK from the local Ublox agent.

It is not giving me the same results as my own C94 EVK that I purchased from them 6 years ago and used
for the development of my own device.

What is very positive is that the EVK gives me a RTK Float solution that is better than autonomous but not as good as a RTK Fixed
solution.

I let the vehicle navigate to one of the markers, and after just over half a turn the vehicle broke out and headed pretty much directly to the target.

After about 10 seconds it maintained its present course. The distance to the marker however did not change despite the vehicle covering just under 3 meters of the calculated 6.02 meters.

The vehicle, still being severely underpowered, then reached a very slight incline that slowed it down to about half speed and struggled to overcome the small incline. It then went into a right hand turn and broke out again after just over a full turn, this was due to the ‘track’ value being 0.00 after the vehicle lost speed.

It was more or less within 5 degrees aligned with the target judging by eye.

It never reached the target but came very close to it. I repeated the process from a number of starting positions trying to keep the path once aligned downhill as much as possible but it is not always possible.

I am trying to get hold of 2 more powerful motors and a higher, 40 Amp Hbridge motor controller.

Presently nobody seems to have stock but I am looking daily.

Your thoughts on the distance issue?

Thank you

Sincerely

Anton

Hi Alexander

The weather gave me an opportunity to have the vehicle drive itself.

The vehicle turns towards the target, breaks out of the alignment phase and starts driving towards the target. It drove over the target and when it recalculated the bearing and distance values after 10 seconds turned around to almost the initial start position and again drove to the target again driving over it.

It looks like the coordinate value for the present position is the same as the one initially used to perform the calculation as the distance to the target appears not to be updated as the vehicle drives towards the target. The distance remaining remains the same does not matter where the vehicle is in relation to the target.

It looks like the original start coordinates are retained and not being updated as the vehicle drives towards the target

Turning from 248.3278 toward 324.05287014501914
Acquiring GPS fix...
Acquiring GPS fix...
Turning from 81.9286 toward 332.6783297762552
Driving toward target, 8.034198873005396 remaining
Driving toward target, 8.034198873005396 remaining
Turning from 340.1339 toward 327.324162224533
Turning from 338.9754 toward 326.69206471265255
Turning from 344.4165 toward 326.3117980907884
Turning from 334.8018 toward 326.24354109949616
Driving toward target, 8.034198873005396 remaining
Turning from 336.12 toward 326.7125107258457
Driving toward target, 8.034198873005396 remaining
Driving toward target, 8.034198873005396 remaining
Turning from 348.3448 toward 327.1309250286394
Turning from 343.7403 toward 325.779370984538
Turning from 341.958 toward 325.619356510693
Turning from 342.4235 toward 325.3585423334086
Turning from 345.6522 toward 324.7586501937085
Turning from 18.5438 toward 323.84504533417555
Turning from 51.459 toward 319.30353469821455
Turning from 59.7068 toward 317.6490116974371

Thank you

Sincerely

Anton

Good day Alexander

I trust that you are well, we have not communicated in a while.

I have since developed a new GPS device that delivers Pitch, Roll an Yaw values in addition to the other values provided by GPS for navigation. In addition the altitude value is within 100 mm's making the device very versatile. The angular values are within 0.5 degrees and the positional accuracy <40 mm.

This provides a 6 Degrees of freedom spatial position without the need for an IMU

What are your thoughts around the use of such a device?

How easy would it be to take the code you wrote for the other device to be able to display the data and store it for later analyses in some sort of spatial format?

The device presently uses 2 COM ports and their values change depending on where it is connected to. Presently it is connected to a windows laptop. 2 device's data are required, one for pitch and yaw and one for roll data.

I am waiting for a friend with his plane, I am going to install the device and log data for analyses

Will let you know how it goes?

Thank you

Sincerely

Anton