Design of Autonomous Vehicle Navigation Using GNSS Based on Pixhawk 2.1

Khosyi’in, Muhammad; Budisusila, Eka Nuryanto; Prasetyowati, Sri Arttini Dwi; Suprapto, Bhakti Yudho; Nawawi, Zainuddin

doi:10.23919/eecsi53397.2021.9624244

Cited by 4 publications

(4 citation statements)

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“…The system architecture is based on two architectural systems: the system architecture installed on the vehicle and the system architecture installed on the ground station [7]. The antenna installed on the radio telemetry module is a factory default antenna with a 1 meter antenna height on the GCS side and 1.3 meter antenna height on the vehicle side.…”

Section: Navigation System Architecturementioning

confidence: 99%

“…This autonomous vehicle navigation system used GCS as a configuration utility, a dynamic control supplement for autonomous vehicles, or commands sent to radio control transmitters or GCS [18]. GCS is a computer device installed with the Mission Planner firmware to observe and control the autopilot controller [7].…”

Section: System Block Diagrammentioning

confidence: 99%

“…The system was built utilizing a pixhawk 2.1 main controller with two primary sensors: IMU and GNSS Compass. The GNSS U-Blox M8N sensor was installed on the Here2 Receiver module, also equipped with IC-M20948, which functioned as a compass sensor aside from the gyro and accelerometer sensors [7], [19]. This Pixhawk 2.1 controller also had three redundant IMU systems, consisting of three accelerometers, three gyroscope sensors, three magnetometers, and three barometers, which were suitable for operating in difficult places [20]- [22].…”

Section: System Block Diagrammentioning

confidence: 99%

“…The SiK radio telemetry module is used for wireless communication between the GCS and the autonomous vehicle. Previous tests show that sending data from the vehicle to the ground station with the Holybro telemetry module has problems reading sensor data because it is affected by distance and buildings [7], [8]. This is due to the Holybro's limited telemetry range of 300 meters in an open area with a standard antenna setup and a transmission power of 100 mW [9].…”

Section: Introductionmentioning

confidence: 99%

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The Impact of Telemetry Received Signal Strength of IMU/GNSS Data Transmission on Autonomous Vehicle Navigation

Khosyi’in

Prasetyowati

Suprapto

et al. 2022

IJEEI

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This paper presents the effect of received signal strength on IMU/GNSS sensor data transmission for autonomous vehicle navigation. A pixhawk 2.1 flight controller is used to build the navigation system. Straight lines with back-andforth routes were tested using two types of SiK telemetry: Holybro and RFD. The results of the tests show that when the RSSI value falls close to the receiver's sensitivity value, the readings of the gyro sensor data, accelerometer, magnetometer, and GNSS compass data are disturbed. When the RSSI signal collides with noise, the radio telemetry link is lost, affecting the accuracy of speed data and the orientation of autonomous vehicles. According to Cisco's conversion table, the highest RSSI on Holybro telemetry is -48 dBm, and the lowest is -103 dBm, with a receiver sensitivity of -117 and data reading at a distance of about 427 meters. While the highest RSSI value on RFD telemetry is -17 dBm and the lowest is -113 dBm, even the lowest value is above the receiver's sensitivity limit of -121 dBm with data readings at a distance of approximately 749.4 meters. RFD outperforms Holybro in terms of RSSI and sensitivity at low data rates. When reading distance data to reference distance data using Google Earth and ArcGIS, RFD telemetry has a higher accuracy, with an average accuracy of 98.8%.

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Section: Navigation System Architecturementioning

confidence: 99%

Section: System Block Diagrammentioning

confidence: 99%

Section: System Block Diagrammentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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