Full Thesis Mobile Robot Location and Monitoring System

MOBILE ROBOT LOCATION AND MONITORING SYSTEM
AMANINA FARHANA BINTI AHMAD
Faculty of Mechanical Engineering

UNIVERSITI MALAYSIA PAHANG
Thesis submitted in partial fulfilment of the requirements for the award of the
degree of Bachelor of Mechanical Engineering
JUNE 2015
ii
SUPERVISORS DECLARATION
I hereby declare that I have checked this thesis and in my opinion, this thesis is adequate
in terms of scope and quality for the award of the degree of Bachelor of Mechanical
Engineering.
Signature
Name of Supervisor : IR DR AKHTAR RAZUL BIN RAZALI

Position
Date
iii
STUDENTS DECLARATION
I hereby declare that the work in this thesis is my own except for quotations and
summaries which have been duly acknowledged. The thesis has not been accepted for
any degree and is not concurently submitted for award of other degree.
Signature
Name
: AMANINA FARHANA BINTI AHMAD
ID Number
: MA11110
Date
: 5 JUNE 2015
iv
ACKNOWLEDGEMENTS
I am grateful and would like to express my sincere gratitude to my supervisor Ir

Dr Akhtar Razul bin Razali for his germinal ideas, invaluable guidance, continuous
encouragement and constant support in making this research possible. He has always
impressed me with his outstanding professional conduct, and his belief that a Bachelor
program is only a start of a life-long learning experience. I appreciate his consistent
support from the first day I recieve the title of Final Year Project. I am truly grateful for
his progressive vision about my reserch in this project, his tolerance of my nave
mistakes, and his commitment to my future experiment result.
I acknowledge my sincere indebtedness and gratitude to my parents for their
love, dream and sacrifice throughout my life. I cannot find the appropriate words that
could properly describe my appreciation for their devotion, support and faith in my
ability to attain my goals. Special thanks should be given to my committee members. I
would like to acknowledge their comments and suggestions, which was crucial for the
successful completion of this study.
ABSTRACT
This thesis deals with latitude and longitude coordinate to determine distance accuracy
of Global Positioning System (GPS) in three different type. This three type of GPS are
GPS Mouse(connect to computer), Mobile GPS and Smartphone GPS. Global
Positioning System (GPS) is a space-based satellite navigation system that provides
location and time information in all weather conditions, anywhere on or near the Earth
where there is an unobstructed line of sight to four or more GPS satellites. It is
importance of knowing the robot real time location. Without knowing the present
location, it is impossible for the robot to carry on task given to it. Also, it will be
difficult for the operator who operates the robot to mobilize and conducting any
mission. Due to the importance of knowing and understand robot positioning, location
identification for this problem. Tracking system by using satellite to track the robot
whereabouts is normally practiced globally. Satellite signal is used to track and report
the robot position in real time. Therefore this system may be used as a location
detection and reporting device for this mobile robot project. In the result, GPS Mouse
connected on the computer is more accurate followed by Smartphone GPS and Mobile
GPS. This is because, Adopt SkyTraq 6 chipset with 65-channel help the Mouse GPS
receive more satellite channel compare to Mobile GPS and Smartphone GPS. Besides
that, present of GLONASS (Global Orbiting Navigation Satellite System) chip in the
Smartphone help to acquire satellites up to 20% faster than devices that rely on GPS
alone. Finally, increase the number of GPS channel receiver will increase the accuracy
of GPS.
vi
ABSTRAK
Tesis ini berkaitan dengan bacaan kordinat latitud dan longitud bagi menentukan
ketepatan jarak terhadap tiga jenis GPS(Global Positioning System) yang berbeza. Tiga
jenis GPS tersebut adalah GPS Tetikus(disambungkan dengan komputer), GPS mudah
alih dan GPS telefon pintar. Global Positioning System (GPS) adalah sistem navigasi
satelit yang menyediakan maklumat lokasi dan masa dalam semua keadaan cuaca, di
mana sahaja di bumi ini jika terdapat empat atau lebih garis satelit GPS yang tidak
terhalang. Lokasi sebenar sebuah robot adalah penting untuk diketahui. Tanpa
mengetahui lokasi mereka, sebuah robot tidak mampu menjalankan tugas yang
diberikan kepadanya. Selain itu, pengendali sebuah robot juga sukar untuk
mengendalikan robot dalam menjalankan apa-apa misi kerana tidak mengetahui lokasi
sebenar robot tersebut. Sistem pengesanan dengan menggunakan satelit untuk mengesan
di mana keduduksn robot kini sudah diamalkan di peringkat global. Isyarat satelit
digunakan untuk mengesan dan melaporkan kedudukan robot tersebut dalam masa yang
sebenar. Oleh itu sistem ini boleh digunakan sebagai pengesanan lokasi dan peranti bagi
projek robot mudah alih ini. Melalui kajian yang dibuat sepanjang projek ini, GPS
tetikus yang disambungkan pada komputer adalah lebih tepat diikuti dengan GPS
telefon pintar dan GPS mudah alih. Ini adalah kerana, SkyTraq 6 chipset dengan 65
saluran membantu GPS tetikus menerima lebih saluran satelit berbanding GPS mudah
alih dan GPS telefon pintar. Selain itu, kehadiran GLONASS(Global Orbiting
Navigation Satellite System) cip membantu talefon pintar untuk memperoleh 20%
satelit lebih cepat berbanding peranti yang bergantung kepada GPS sahaja. Akhir sekali,
semakin meningkat bilangan saluran GPS yang di terima akan meningkatkan ketepatan
GPS.
vii
TABLE OF CONTENT
Page
SUPERVISORS DECLARATION
ii
STUDENTS DECLARATION
iii
ACKNOWLEDGEMENTS
iv
ABSTRACT
ABSTRAK
vi
TABLE OF CONTENTS
vii
LIST OF TABLES
xi
LIST OF FIGURES
xii
LIST OF ABBREVIATIONS
xiii
CHAPTER 1
INTRODUCTION
1.0
Introduction
1.1
Problem Statement
1.2
Objectives
1.3
Hypothesis
1.4
Scope Of The Project
CHAPTER 2
LITERATURE REVIEW
2.0
Introduction
2.1
Robot
viii
2.2
2.3
2.4
2.5
2.1.1 Type of Robotics

2.1.1.1 Outer Space
2.1.1.2 The Intelligent Home
2.1.1.3 Exploration
2.1.1.4 Military Robots
2.1.1.5 Farms
2.1.1.6 The Car Industry
2.1.1.7 Hospitals
2.1.2 Applications Of Robots
2.1.2.1 Industrial Robots
2.1.2.2 Medical robots
4
4
4
4
5
5
5
5
6
6
7
7
Mobile Robot
2.1.1 Type of Mobile Robot

2.2.1.1 Land Based Wheeled Robot
2.2.1.2 Land Based Tracked Robot
2.2.1.3 Land Based Legged Robot
8
8
9
10
Mobile Robot And it's Issue
11
2.3.1 Location And Status Reporting

2.3.2 Range And Control
11
11
Positioning Sensor
12
2.4.1
2.4.2
2.4.3
2.4.4
2.4.5
2.4.6
2.4.7
12
13
13
14
14
15
16
Odometry
Inertial Navigation
Magnetic Compasses
Active Beacons
Global Positioning System (GPS)
Landmark Navigation
Map-Based Positioning
The Global Positioning System (GPS) : Principles & Concepts
17
2.5.1 Global Positioning System (GPS) And Field

Navigation
2.5.2 Global Positioning System (GPS) Functions
2.5.3 Global Positioning System (GPS) Working Principle
2.5.3.1 Stage 1 The Satellites Act As Reference
Points
2.5.3.2 The Signal Travel Time Gives Distance
Information
2.5.3.3 Three Distances Gives The Position
17
18
19
19
21
21
ix
2.6
Positioning Coordinate and Reading
22
2.6.1 Latitude and Longitude, The True Coordinate System

2.6.2 Universal Transverse Mercator (UTM) Grid
Coordinate System
2.6.3 UTM Measurements & Coordinates:
2.6.3.1 Eastings
2.6.3.2 Northings
22
23
CHAPTER 3
23
23
24
METHADOLOGY
3.0
Introduction
25
3.1
Equipment And Materials
26
3.1.1 Global Positioning System On Computer

3.1.2 Mobile Global Positioning System
3.1.3 Smartphone Global Positioning System
26
27
28
Procedure
29
3.2.1
3.2.2
3.2.3
3.2.4
30
30
30
30
3.2
CHAPTER 4
GPS Setting
GPS Response Testing
Accuracy Experiments
Real Time Monitoring
RESULTS AND DISCUSSIONS
4.0
Introduction
31
4.1
GPS Response Testing Result
31
4.2
Accuracy Experiment Result
31
4.2.1 Testing Place

4.2.1.1 Between Building
4.2.1.2 Under the Tree
4.2.1.3 Open Space
31
32
34
37
4.3
Average Distance Error
40
4.4
Discussions
41
CHAPTER 5
CONCLUSION AND RECOMMENDATIONS
5.0
Conclusion
43
5.1
Recommendations
43
REFERENCES
44
xi
LIST OF TABLES
Table No.
Title
Page
4.1
Number of GPS channel receiver according to type of GPS
32
4.2
Latitute and longitude for between building at location 1 and it

distance error
33
4.3

distance error
33
4.4

distance error
33
4.5

distance error
34
4.6
Latitute and longitude for under the tree at location 1 and it

distance error
35
4.7

distance error
35
4.8

distance error
36
4.9

distance error
36
4.10
Latitute and longitude for open space at location 1 and it

distance error
37
4.11

distance error
38
4.12

distance error
38
4.13

distance error
39
4.14
Average distance error for latitude and longitude between

building
40
4.15
Average distance error for latitude and longitude under the tree
40
4.16
Average distance error for latitude and longitude open space
41
xii
LIST OF FIGURES
Figure No.
Title
Page
2.1
Land based wheeled robot
2.2
Land based tracked robot
2.3
Land based legged robot
10
2.4
Global Positioning System (GPS) working principle
21
3.1
Mouse GPS
26
3.2
Mobile GPS
27
3.3
Smartphone GPS
28
4.1
(a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4

for between building
32
4.2

for under the tree
34
4.3

for open building
37
xiii
LIST OF ABBREVIATIONS
EGNOS
European Geostationary Navigation Overlay Service
GLONASS
Global Orbiting Navigation Satellite System
GPS
Global Positioning System
Lat
Latitude
Long
Longitude
UTM
Universal Transverse Mercator
WAAS
Wide Area Augmentation System
CHAPTER 1
INTRODUCTION
1.0
Introduction
Mobile robot is surely an autonomous system that's to improve its motion in a
reaction to adjustments in its environment while performing a given task. Mobile robot
are segregated by different system into their capacity to generate developed
response.(Muhamad Ashadi B Abdul Rahman,2007) A number of systems are applied
in robotic and have interactionfor making the particular robot function. There are
several kinds of mobile robot which is handled by directed wired control, wired
computer control, infrared, radio frequency (RF), Bluetooth, and Wi-Fi (Wireless
Fidelity).
Some sort ofmobile robotis definitely anautomatic machine that'sable
tolocomotion. Mobile robots are capable to go around within theirsurroundings and are
certainly not fixedto a single actual one physical position. Mobile robots can also
beseen inmilitary, enforcement, industrial, and security settings. In comparison,
industrial robotsare generally more-or-less fixed, including things like of a gripper
assembly (or end effector) and also jointed arm (multi-linked manipulator), attached to a
fixed surface. Autonomous Rotorcraft Sniper System which is experimental robotic
weapons technique have being produced by the U.S. Army since 2005 is an example of
mobile robot use in military. (Phillip McKerrow, 1991)
It is importance of knowing the robot real time location. Without knowing the
present location, it is impossible for the robot to carry on task given to it. Also, it will be
difficult for the operator who operates the robot to mobilize and conducting any
mission. Due to the importance of knowing and understand robot positioning, location
identification for this problem. Tracking system by using satellite to track the robot
whereabouts is normally practiced globally. Satellite signal is used to track and report
the robot position in real time. Therefore this system may be used as a location
detection and reporting device for this mobile robot project.
This project thesis is focusing on programing the GPS system device which
provide a location information of the mobile robot. The Global Positioning System
(GPS) is a space-based satellite routing system that givespositionand also period details
in every weather conditions, wherever on or evenclose to the Earth where there'sa
cleardistinctive line of sight to four or more GPS satellites. This chapter will story the
objective of the project, problem statement which need to consider before the project is
going to be carry out and scope of the projects work.
1.1
PROBLEM STATEMENT
In this project, problem statement is the important aspect that use to achieve the
objective. This mobile robot is controlled by wireless communication, Wi-Fi. As an

operator, it is important to know the robot whereabouts during the mission. The problem
statement is how to program the Global Positioning System (GPS) device that provide a
location information of the robot.
1.2
OBJECTIVES
The aims of the project are set as follows:
i.
To develop location finder system for a mobile robot application.
ii.
To conduct comparison study on different type of GPS.
1.3
HYPOTHESIS
Location sensor can be used to address this issue. Global Positioning System
(GPS) device is used to provide a location information of the robot.
1.4
SCOPE OF THE PROJECT

The scope of this project is concentrate on the programing of Global Positioning
System (GPS) device that provide a location information of the robot. The project scope
covers the positioning accuracy is within 25 feet and the GPS receiver used is 8 channel
positioning system.
CHAPTER 2
LITERITURE REVIEW
2.0
INTRODUCTION
This chapter explains about research of the project that has been chosen and
explanations about Global Positioning System which influence in mobile robot
positioning, location identification for the robot to carry on task given to it
2.1
ROBOT
Robotics is a scientific area which researchthe connectionamong Action and
Perception. Robotics unlike to some other branches is a realistically new domain of

engineering. It's a multi-disciplinary sector. The various branches filled in the
development of Robotics are Computer Engineering, Electrical Engineering and
Mechanical Engineering. Computer Engineering, work with the mobility development
and paying attention of Robots while Electrical Engineering is works with the
handling& intelligence (sensing) of Robots. For Mechanical Engineering, itworks with
the machine &design of the Robots.
Robot is a device which capable tocarry out activities as a man. It is
programmable manipulator capable to perform numerous operations (e.g., component
handling and material), following programmed routes to satisfy a hugenumber of tasks.
Robots are classified depend on the circuits of the Robots and the some of application it
may carry out. The robots are generally classified in about three types which are Simple
level robot, Middle level Robot and Complex level Robot. Simple level robotsare
generallyprogrammed machines that usually do not consistcomplicated circuit. They are
created in order to extend man potential. For example is washing machine. Middle level
Robots are programmed however it cannot be reprogrammed. These types of robots
consist of sensor based circuit &able to do multiple tasks. For Example Fully Automatic
Washing Machine.Complex level Robotsare usually programmed and possibly be
reprogrammed too. They consist complicated model based circuit. For Example- Laptop
or Computer.
2.1.1 Types of Robotics

Robotics can be an area of interest to peoplefor more than one century. A robots
distinctiveness changeswith regards to theenvironment it works in. The type of robotics
are:
2.1.1.1 Outer Space
Robotic arms which are under the control of a person who are engaged to unload
the docking cove of outer-space shuttles in order to release satellites or to develop a
space station.Robotic arms which are under the control of a person who are engaged to
unload the docking cove of outer-space shuttles in order to release satellites or to
develop a space station.Robotic arms which are under the control of a person who are
engaged to unload the docking cove of outer-space shuttles in order to release satellites
or to develop a space station.Robotic arms which are under the control of a person who
are engaged to unload the docking cove of outer-space shuttles in order to release
satellites or to develop a space station.
2.1.1.2 The Intelligent Home
Robotic systems can currently look at home safety, ecological situation and
energy usage. Windows and doors might be unlocked mechanically and electrical
device for exampleair conditioner and lightsmight be pre-programmed to turn on. This
can helps citizens to savour home appliances no matter their own range of
motion.Robotic systems can currentlylook at home safety, ecological situation and
energy usage. Windows and doors might be unlocked mechanically and electrical
device for exampleair conditioner and lightsmight be pre-programmed to turn on. This
can helps citizens to savour home appliances no matter their own range of motion.
2.1.1.3 Exploration
Robots may get into the environments which are harmful to people. An
illustration is observing the surroundings within a volcano or looking into our deep
marine lifestyle. NASA has utilized robotic probe regarding environmental review,
from the time that earlier 60s.

Flying robot drones are produced directly into performedregarding close up
view within current times modern armed force. Later on, robotic aircraft and motor
vehiclesmay be employed to send bombs, petroleum, bullets, and many others.Flying
robot drones are produced directly into performedregarding close up view within
current times modern armed force. Later on, robotic aircraft and motor vehiclesmay be
employed to send bombs, petroleum, bullets, and many others.
2.1.1.5 Farms
Programmed robots are usually used by farmer to be able to cut and collect
plants. To feed and milk the cowsdiatantly, the farmers are usually use robotic milk
farms. Programmed robots are usually used by farmer to be able to cut and collect
plants. To feed and milk the cowsdiatantly, the farmers are usually use robotic milk
farms.
2.1.1.6 The Car Industry
Robotic arms are used, these kinds of robot canperforma lot of tasks inside car
production& assembling procedure. They performtask for examples cutting,sorting,
lifting,welding, bending andpainting. Inorder to perform tasks such as trimming, cutting
and processing of different types of meats (chicken, meat, lamb, and fish) the farmer are
now created a similar feature of robot using a small size for food industry.
2.1.1.7 Hospitals
The growth of the robotic suit is actually under construction that will permitthe
medical stuff to boost patients without hurting their backbones. Scientists in Japan have
created a energy facilitated suit that may supply the medical staff the extra energy that
they have to lift patients.The growth of the robotic suit is actually under construction
that will permitthe medical stuff to boost patients without hurting their backbones.
Scientists in Japan have created a energy facilitated suit that may supply the medical
staff the extra energy that they have to lift patients.
2.1.2 APPLICATIONS OF ROBOTS

Robot is a device which capable to carry out activities as a man. Its
programmable manipulator capable to perform numerous operations (e.g., component
handling and material), following programmed routes to satisfy a hugenumber of tasks.
Robots are classified depend on the circuits of the Robots and the some of application it
may carry out. The robots are generally classified in about three types which are Simple
level robot, Middle level Robot and Complex level Robot. Simple level robotsare
generallyprogrammed machines that usually do not consistcomplicated circuit. They are
created in order to extend man potential. For example is washing machine. Middle level
Robots are programmed however it cannot be reprogrammed. These types of robots
consist of sensor based circuit &able to do multiple tasks. For Example Fully Automatic
Washing Machine.Complex level Robotsare usually programmed and possibly be
reprogrammed too. They consist complicated model based circuit. For Example- Laptop
or Computer.
Nowadays, robots execute a variety of task in several sector and also the
quantity of jobs represented in order to robots will beincrease gradually. The easiest
method to divide robots straight into types is a partition through their application.
2.1.2.1 Industrial robots
This types of robots provide directly perform in an industrial manufacturing
surrounding. Usually this include jointed arms specially made for used like- material
welding ,handling, painting, and many others. These kind of robots may also contain a
few automatically guided motor vehicles and other robots if all of us analyze basically
through application.Thistypes of robots providedirectly
perform in an industrial
manufacturing surrounding. Usually this include jointed arms specially made for used
like- material welding ,handling, painting, and many others. These kind of robots may
also contain a few automatically guided motor vehicles and other robots if all of us
analyze basically through application.
2.1.2.2 Medical robots

Robots are used in medication and medical institutes. Robot can be found during
surgical treatments. Also, several robotic focused automobiles and maybe raising
supporters.Robots are used in medication and medical institutes. Robot can be found
during surgical treatments. Also, several robotic focused automobiles and maybe raising
supporters.
2.1.2.3 Military robots
Flying robot drones are produced directly into performedregarding close up
view within current times modern armed force. Later on, robotic aircraft and motor
vehiclesmay be employed to send bombs, petroleum, bullets, and many others. Robots
added directly into performed in armed forces & military. This kind of robots contain
explosive device removing robots, search drones , various shipping robots. Usually
robots in the beginning created for armed forces and military functions can be used in
seek andsave, enforcement law and other associated sector.
2.2
MOBILE ROBOT
Mobile robot is surely an autonomous system that's to improve its motion in a
reaction to adjustments in its environment while performing a given task. Mobile robot
are segregated by different system into their capacity to generate developed response.
(Muhamad Ashadi B Abdul Rahman,2007) A number of systems are applied in robotic
and have interaction for making the particular robot function. There are several kinds of
mobile robot which is handled by directed wired control, wired computer control,
infrared, radio frequency (RF), Bluetooth, and Wi-Fi (Wireless Fidelity).
Mobile robot is a platform with a great mobility in thesurrounding(land,
underwater, air). It is a system with the following functional characteristics which are
mobility (total mobility relative to the environment) ,A certain level of autonomy
(limited human interaction) and Perception ability(sensing and reacting in the
environment).
2.2.1 Type of Mobile Robot

There are many possible method to move, and mobile robot design generally features a
robot will perform. Here have three the most popular mobile robot which are
i.
Land-based wheeled robot
ii.
Land-based legged robot
iii.
Land-based tracked robot
2.2.1.1 Land Based Wheeled Robot
Figure 2.1 : Land Based Wheeled Robot

Source : Coleman Benson ,2012
Land Based Wheeled Robot is a locomotion mechanism and it has been the most
popular in mobile robot industries. With a relative mechanical implementation, a good
efficiencies can be achieve. There are four major wheel classes.Choice of wheel types
has large effect on the overall kinematics of the mobile robot because they differ widely
in their kinematics.. (Roland Siegwart and Illah R. Nourbakhsh, 2004). Mobile robot
can have just about any number of wheel, The advantage of using four and six wheeled
robot are the robot using multiple drive motor, one connected to each wheel which
reduce slip. The wheel has always been the easiest way to implement mobility. The
implementation is very simple and does not requires any advanced technique
2.2.1.3 Land Based Tracked Robot
Figure 2.2 : Land Based Tracked Robot

The figure shows the example of land based tracked mobile robot. Tracks, also
known as threads are similar to the tank. It is suitable for mobile robot in rough and
irregular surface as track provide friction and reduce slippage. Tracks is best for mobile
robot used for outdoors and off-road grounds. Land based tracked robot can easily cross
over larger obstacles due to their greater area of ground contact and can be used on
almost any terrain.
Land based tracked mobile robot is used skid steer drive as a mechanism to
moving. Skid steer is related to the differential drive system. The tracks is attached on
the two side of the mobile robot chassis and driven by two separate motor. It is steered
by moving those tracks at different speeds in the same or opposite direction.
10
2.2.1.4 Land Based Legged Robot
Figure 2.3: Land Based Legged Robot

Land based legged robot is a complex mobile robot, but there are many
advantages of leg over wheel and tracked mobile robot. Legs are often the choice for
robots that must drive on uneven region. Mostly, to allow the robot to be statically
balance, the robot are designed with six legs. It will hard to balance if the robot have
fewer legs. An experiment has been carried our by researchers with monopod (one
Legged) designs, bipeds (two legs), quadrupeds (four legs) and hexapods (six legs).
(Coleman Benson .2012).
11
2.3
MOBILE ROBOT AND ITS ISSUE

Nowdays, mobile robotic very popular and always used in any sector.
Eventhough it is very popular and widely used, mobile robot still has some problems.
2.3.1 Location And Status Reporting

As an operator, it is important to know the robot whereabouts during a mission.
Losses may happen if the robot position/location is failed to be identified. Robot
tracking movement may also cannot be recorded which this usually give important
information. For SAR(Search and Rescue) operation, failed to know the location is
useless.
2.3.2 Range And Control

For a mobile robot, there is a limit distance rangeto control it. Thisproblem will
limits theabilityof amobile robottocarry outtheir mission. As an operator, they cannot
leave their mobile robot out of distance range.
12
2.4 POSITIONING SENSOR

Exact knowledge of the position of a vehicle is a fundamental problem in mobile robot
applications. In search for a solution, researchers and engineers have developed a
variety of systems, sensors, and techniques for mobile robot positioning. Here there are
seven categories for positioning systems which are Odometry, Inertial Navigation,
Magnetic Compasses, Active Beacons, Global Positioning Systems, Landmark
Navigation, Model Matching. The characteristics of each category are discussed and
examples of existing technologies are given for each category.(J. Borenstein, H.R.
Everett, L. Feng, and D. Wehe . 2000)
2.4.1 Odometry
Odometry is the most widely used navigation method for mobile robot
positioning; it provides good short-term accuracy, is inexpensive, and allows very high
sampling rates. However, the fundamental idea of odometry is the integration of
incremental motion information over time, which leads inevitably to the unbounded
accumulation of errors. Specifically, orientation errors will cause large lateral position
errors, which increase proportionally with the distance travelled by the robot. Despite
these limitations, most researchers agree that odometry is an important part of a robot
navigation system and that navigation tasks will be simplified if odometric accuracy can
be improved. For example (Cox, I.J., 1991), (Byrne et al. 1992), and (Chenavier, F. and
Crowley, J., 1992) propose methods for fusing odometric data with absolute position
measurements to obtain more reliable position estimation.
Odometry is based on simple equations (see Borenstein et al., 1996a), which
hold true when wheel revolutions can be translated accurately into linear displacement
relative to the floor.
However, in case of wheel slippage and some other more subtle causes, wheel
rotations may not translate proportionally into linear motion. The resulting errors can be
categorized into one of two groups: systematic errors and non-systematic errors
[Borenstein and Feng, 1996]. Systematic errors are those resulting from kinematic
imperfections of the robot, for example, unequal wheel diameters or uncertainty about
13
the exact wheelbase. Non-systematic errors are those that result from the interaction of
the floor with the wheels, e.g., wheel slippage or bumps and cracks. Typically, when a
mobile robot system is installed with a hybrid odometry/landmark navigation system,
the density in which the landmarks must be placed in the environment is determined
empirically and is based on the worst-case systematic errors. Such systems are likely to
fail when one or more large non-systematic errors occur.
2.4.2 Inertial Navigation
Inertial navigation uses gyroscopes and accelerometers to measure rate of

rotation and acceleration, respectively. Measurements are integrated once (or twice, for
accelerometers) to yield position. Inertial navigation systems have the advantage that
they are self-contained, that is, they don't need external references. However, inertial
sensor data drift with time because of the need to integrate rate data to yield position;
any small constant error increases without bound after integration. Inertial sensors are
thus mostly unsuitable for accurate positioning over an extended period of time.
2.4.3 Magnetic Compasses
Vehicle heading is the most significant of the navigation parameters (x, y, and _)
in terms of its influence on accumulated dead-reckoning errors. For this reason, sensors
which provide a measure of absolute heading are extremely important in solving the
navigation needs of autonomous platforms. The magnetic compass is such a sensor. One
disadvantage of any magnetic compass, however, is that the earth's magnetic field is
often distorted near power lines or steel structures (Byrne et al., 1992). This makes the
straightforward use of geomagnetic sensors difficult for indoor applications.
Based on a variety of physical effects related to the earth's magnetic field, different
sensor systems are available:
i.
Mechanical magnetic compasses.
ii.
Fluxgate compasses.
14
iii.
Hall-effect compasses.
iv.
Magnetoresistive compasses.
v.
Magnetoelastic compasses.
The compass best suited for use with mobile robot applications is the fluxgate
compass. When maintained in a level attitude, the fluxgate compass will measure the
horizontal component of the earth's magnetic field, with the decided advantages of low
power consumption, no moving parts, intolerance to shock and vibration, rapid start-up,
and relatively low cost. If the vehicle is expected to operate over uneven terrain, the
sensor coil should be gimbal-mounted and mechanically dampened to prevent serious
errors introduced by the vertical component of the geomagnetic field.
2.4.4 Active Beacons
Active beacon navigation systems are the most common navigation aids on ships
and airplanes, as well as on commercial mobile robot systems. Active beacons can be
detected reliably and provide accurate positioning information with minimal processing.
As a result, this approach allows high sampling rates and yields high reliability, but it
does also incur high cost in installation and maintenance. Accurate mounting of beacons
is required for accurate positioning. Two different types of active beacon systems can
be distinguished: trilateration and triangulation.
2.4.5 Global Positioning Systems (GPS)
The Global Positioning System (GPS) is a revolutionary technology for outdoor

navigation. GPS was developed as a Joint Services Program by the Department of
Defense. The system comprises 24 satellites (including three spares) which transmit
encoded RF signals. Using advanced trilateration methods, ground-based receivers can
compute their position by measuring the travel time of the satellites' RF signals, which
include information about the satellites' momentary location. Knowing the exact
distance from the ground receiver to three satellites theoretically allows for calculation
of receiver latitude, longitude, and altitude.
15
2.4.6 Landmark Navigation
Landmarks are distinct features that a robot can recognize from its sensory input.
Landmarks can be geometric shapes (e.g., rectangles, lines, circles), and they may
include additional information (e.g., in the form of bar-codes). In general, landmarks
have a fixed and known position, relative to which a robot can localize itself.
Landmarks are carefully chosen to be easy to identify; for example, there must be
sufficient contrast relative to the background. Before a robot can use landmarks for
navigation, the characteristics of the landmarks must be known and stored in the robot's
memory. The main task in localization is then to recognize the landmarks reliably and to
calculate the robot's position.
In order to simplify the problem of landmark acquisition it is often assumed that
the current robot position and orientation are known approximately, so that the robot
only needs to look for landmarks in a limited area. For this reason good odometry
accuracy is a prerequisite for successful landmark detection.
Some approaches fall between landmark and map-based positioning. They use
sensors to sense the environment and then extract distinct structures that serve as
landmarks for navigation in the future.
Our discussion in this section addresses two types of landmarks: artificial and
natural landmarks. It is important to bear in mind that natural landmarks work best
in highly structured environments such as corridors, manufacturing floors, or hospitals.
Indeed, one may argue that natural landmarks work best when they are actually manmade (as is the case in highly structured environments). For this reason, we shall define
the terms natural landmarks and artificial landmarks as follows: natural landmarks
are those objects or features that are already in the environment and have a function
other than robot navigation; artificial landmarks are specially designed objects or
markers that need to be placed in the environment with the sole purpose of enabling
robot navigation.
16
2.4.7 Map-Based Positioning
Map-based positioning, also known as map matching, is a technique in which

the robot uses its sensors to create a map of its local environment. This local map is then
compared to a global map previously stored in memory. If a match is found, then the
robot can compute its actual position and orientation in the environment. The pre-stored
map can be a CAD model of the environment, or it can be constructed from prior sensor
data. Map-based positioning is advantageous because it uses the naturally occurring
structure of typical indoor environments to derive position information without
modifying the environment. Also, with some of the algorithms being developed, mapbased positioning allows a robot to learn a new environment and to improve positioning
accuracy through exploration. Disadvantages of map-based positioning are the stringent
requirements for accuracy of the sensor map, and the requirement that there be enough
stationary, easily distinguishable features that can be used for matching. Because of the
challenging requirements currently most work in map-based positioning is limited to
laboratory settings and to relatively simple environments.
17
2.5
THE GLOBAL POSITIONING SYSTEM (GPS): PRINCIPLES &

CONCEPTS
GPS stands for Global Positioning System and was developed by the US
Department of Defense as a worldwide navigation and positioning facility for both

military and civilian use. It is a space-based radio-navigation system consisting of 24
satellites and ground support. GPS provides users with accurate information about their
position and velocity, as well as the time, anywhere in the world and in all weather
conditions.
Navigation in three dimensions is the primary function of GPS. Navigation
receivers are made for aircraft, ships, ground vehicles, and for hand carrying by
individuals. GPS provides specially coded satellite signals that can be processed in a
GPS receiver, enabling the receiver to compute position, velocity and time. Good GPS
receivers can calculate their position, anywhere on earth, to within one hundred meters
and can continuously update their position more than once a second. Of course, various
factors, such as terrain and atmospherics can affect the GPS signals. In spite of this
however, accuracy of one hundred meters for GPS will commonly be exceeded.(Baddar
Abbas. 2012)
2.5.1 Global Positioning System (GPS) And Field Navigation
Navigation is vital to the safety of any field expedition. When combined with
the necessity of fixing a locations co-ordinates for scientific research, the need for
accurate, rapid and cost-effective navigation tools becomes paramount. Increasingly
GPS receivers are becoming a standard some would say essential item of expedition
equipment. Determining the co-ordinates of a point in the field can be achieved in a
number of ways. The most common traditional approach involves triangulation with a
map and magnetic compass. Triangulation is often very accurate but relies on accurate
maps and navigable objects. (J. Borenstein, H.R. Everett, L. Feng, and D. Wehe. 2000).
18
2.5.2 Global Positioning System (GPS) Functions

GPS use satellite data to calculate an accurate position on the earth. These
calculations can relate the users position to almost any map projection within
milliseconds. All GPS work in a similar manner but they often look very different and
have different software. The most significant difference between GPS receivers is the
number of satellites they can simultaneously communicate with. Most receivers are
described as 12 channel meaning they can communicate with 12 satellites. Older models
may be 8 or even 5 channel with more modern receivers capable of communicating with
14 20. Given the current (2005) makeup of the GPS satellites constellation 12
channel is more than adequate.
Almost all units have an LCD screen or at least software that links to a PC/PDA
with an output screen. The unit might have several different pages that can be displayed
on screen but usually the default page is very similar. Commonly on starting a receiver
you will be presented with a map of the satellites in view. The GPS receiver shows a
view of the sky split into four quadrants. These represent the NE, SE, SW, NW parts of
the sky, with the concentric circles representing the horizon at 90 from the zenith, with
the inner circles representing 60 and 30. The cross at the centre represents the zenith.
The dots/circles represent the satellites and the bars at the bottom represent satellite
signal strength. The higher the bar the stronger the signal. This display is typical of a 12
channel set. The dots and bars will commonly be labelled with a number to represent
the identity of the satellite. The bars are commonly either hollow or solid (usually white
or black on a monochrome display). Hollow lines represent a satellite for which the
Ephemeris data is not known. It is therefore not being used to calculate a position. Black
bars represent Fixed satellites whose ephemeris data has been collected successfully.
These satellites are thus available for calculating a position. This is not consistent across
all models and some may use grey bars as well as hollow bars to represent satellites not
yet fixed.
The number, position and strength of signal from the satellites allows the GPS to
calculate a rough estimate of the error in its reported position. This error or dilution of
precision is a good guide to how accurate any reading would be. It should be closely
19
monitored and readings should only be taken when this is below 10m (ideally below
5m).
The way the GPS records data is generally the same across all units. GPS
receivers automatically records data into their memory according to elapsed time or
distance moved. These points are called track points. The device can be forced to record
additional data, generally with additional information, at user discretion. These user
recorded points are called waypoints. Some of the common pages used for viewing this
data are shown below. The more expensive sets have more detailed screens.
(J.Borenstein, H.R. Everett, L. Feng, and D. Wehe . 2000)
2.5.3 Global Positioning System (GPS) Working Principle
GPS signals do not contain positional data. The position reported by the receiver
on the ground is a calculated position based on range-finding triangulation. GPS
positioning is achieved by measuring using 3 stages. (Baddar Abbas. 2012)
2.5.3.1 Stage 1 The Satellites Act As Reference Points.

The nominal GPS Operational Constellation consists of 24 satellites at an
altitude of 20,100 km (12,500 mi) and with a period of 12 hours. The satellite orbits
repeat almost the same ground track (as the earth turns beneath them) once each day.
There are six orbital planes with nominally four satellites in each, equally spaced (60
degrees apart), and inclined at about 55 degrees with respect to the equatorial plane to
ensure coverage of Polar Regions. This constellation provides the user with between
five and eight satellites visible from any point on the earth. Powered by solar cells, the
satellites continuously orient themselves to point their solar panels toward the sun and
their antennas toward the earth. Each satellite contains four atomic clocks.
The orbital motion of each one is monitored by the Master Control facility
located at Schriever Air Force Base (formerly Falcon AFB) in Colorado. The Master
Control station computes precise orbital data (ephemeris) and clock corrections for each
satellite. It uploads ephemeris and clock data to the satellites. The satellites then send
subsets of the orbital ephemeris data to GPS receivers over radio signals. The control
20
segment also ensures that the GPS satellite orbits and clocks remain within acceptable
limits. These precise positions and data form the basis for all GPS calculations.
2.5.3.2 Stage 2 : The Signal Travel Time Gives Distance Information.
GPS satellites carry atomic clocks that provide extremely accurate time. The
time information is placed in the codes broadcast by the satellite so that a receiver can
continuously determine the time the signal was broadcast. The signal contains data that
a receiver uses to compute the locations of the satellites and to make other adjustments
needed for accurate positioning. The receiver uses the time difference between the time
of signal reception and the broadcast time to compute the distance, or range, from the
receiver to the satellite. The receiver must account for propagation delays, or decreases
in the signals speed caused by the atmosphere. To calculate the distance between itself
and any given satellite the receiver multiplies the travel time by the speed of light. This
principal is fundamental to GPS.
2.5.3.3 Stage 3 :Three Distances Gives The Position.
Once stages 1 and 2 have been accomplished we now have distance information
to a number of satellites the locations of which we know with great precision. From this
data, the receiver triangulates an exact position. Three satellites are needed to determine
latitude and longitude, while a fourth satellite is necessary to determine altitude. An
atomic clock synchronized to GPS is required in order to compute ranges from these
three signals. However, by taking a measurement from a fourth satellite, the receiver
avoids the need for an atomic clock. Thus, the receiver uses four satellites to compute
latitude, longitude, altitude, and time.
21
Figure 2.4 : Global Positioning System (GPS) working principle
Source : Baddar Abbas. 2012
22
2.6 POSITIONING COORDINATE AND READING

For recreational navigation purposes, Latitude and Longitude and the Universal
Transverse Mercator (UTM) are the main coordinate systems to know.(Gilbert
Grosvenor,1954)
2.6.1 Latitude and Longitude, the True Coordinate System

The Earth is divided into a grid of circular segments which are perpendicular to
one another, called latitude and longitude. Latitudelines run horizontally, and are
parallel to the equator.Degrees latitude arenumbered from 0to 90 north andsouth. Zero
degrees(0) is the equator,90 north is theNorth Pole, and 90south is the SouthPole.
Latitude iscommonly the first number expressed in a lat/long coordinate and is often
expressed in the form of degrees, minutes, and seconds, for instance: N3847'30"
Longitude lines (also called meridians) run perpendicular to latitude lines. Their
spacing is widest at the equator, and converges at the Poles.The prime meridian or
Greenwich Meridian (0 longitude) runsthrough Greenwich, England. Half way around
the Earth, the degreesmeet (180 east and west) in the Pacific Ocean, just west of the
MidwayIslands, and just East of the Fiji Islands and New Zealand. Longitude
iscommonly the second number expressed in a lat/long coordinate, and is often
expressed in the form of degrees, minutes, and seconds Degrees are often divided into
minutes (') and seconds ("). Each degree has 60 minutes and each minute has 60
seconds. Seconds can be divided further in tenths, hundredths, etc. for greater and
greater precision. An example of using lat/long to describe a specific point is that the
NationalGeographic Society in Washington, DC is located at 3854'19" N,7702'14" W
(38 degrees, 54 minutes, 19 seconds north of the equator,and 77 degrees 2 minutes, 14
seconds west of the prime meridian).
23
2.6.2 Universal Transverse Mercator (UTM) Grid Coordinate System
The USGS also uses a measurement system called the UniversalTransverse

Mercator(UTM) grid coordinate system, which divides theearth into a perpendicular
grid with constant linear surface distances, inmeters, between each of its grid lines in all
directions. UTM wasdeveloped in order to reduce the complexity of the calculations
needed to transfer a location on our spherically-shaped planet to a flat surface. The
Transverse Mercator Projection, which divides the earth like theslices of an orange and
flattens the slices, introduces a negligible amountof distortion for map scales typical of
most topographic maps. The slightamount of distortion of the geographical features
within a zone isnegligible and may be ignored by most map users. The UTM Grid
Coordinate System superimposes a perpendicular grid over these earth slices with
constant linear surface distance values between each of its grid lines in all directions.
Since the pattern of UTM grid lines wassuperimposed on the grid zones after they were
flattened, these grid linesare straight, perpendicular, and they are not distorted. This grid
isdesigned to create a system where each location can be determined fromthe 0,0 point
in meters or by its grid coordinates. A reference in theUTM system can be converted
into a reference in another system, suchas latitude and longitude using computer
software.
2.6.3 UTM Measurements & Coordinates:
2.6.3.1 Eastings
Each UTM zone is 6 wide, and uses the centralmeridian as a reference. Zone
numbers designate 6degree longitudinal strips extending from 80degrees South latitude
to 84 degrees North latitude,for a total of 60 zones.
For example, Zone 10 extends from 126 West to120 West Longitude. The
central meridian is 123,halfway (3) from the boundary meridians. Asanother example,
Zone 14 has a central meridian of99 West Longitude.
Eastings, longitudinal measurements within eachzone, are measured from the
central meridian. Thecentral meridian has a false easting of 500,000m toassure positive
24
coordinates. Thus, a location in Zone10 that falls directly on the 123 meridian would
have an easting of 500,000 meters written: 500000Em
A location 10,382 meters west of the central meridian (500,000 - 10,382=
489,618) would be written as 489618Em; likewise, a location 85,640meters east of the
central (123) meridian would appear as 585640Em. On a GPS unit, this would be 10 Q
585640. (Note that the Q in this example is arbitrary, see Northings which describe
Zone characters).
2.6.3.2 Northings
Northings are measured from the equator (with a 10,000,000km falsenorthing
for positions south of the equator). Zone characters designate8 degree zones extending
north and south from the equator.
Zones are divided into sections of latitude that are 8 degrees in height.These
sections are lettered C through X, with M and N bracketing theequator. The letter
designators give a quick reference as to the latitude ofa point indicted by the
coordinates. The letter designator is merely a help however. While the zone number is
critical, as the easting coordinate is referenced to it, the northing coordinate specifies the
total number of meters from the equator, regardless of lettered zone section.
Again, easting indicate the number of meters of longitude within the numbered
zone the same easting coordinate value will repeat for each zone. Eastings are specified
as six-digit numbers.
Northings, however, are specified regardless of lettered section. Northings
specify the absolute number of meters from the equator. Northings are specified as
seven-digit numbers. There are special UTM zones between 0 and 36 longitude
above 72 latitude and a special zone (32 ) between 56 and 64 north latitude.
25
CHAPTER 3
METHADOLOGY
3.0
INTRODUCTION
This project thesis is focusing on programing the GPS system device which
provide a location information of the mobile robot. The Global Positioning System
(GPS) is a space-based satellite routing system that gives position and also period
details in every weather conditions, wherever on or even close to the Earth where there's
a clear distinctive line of sight to four or more GPS satellites
On this chapter, procedure of experiment is very important. For this experiment,
the equipment and materials used are computer GPS, mobile GPS and Smartphone
GPS. For the procedure of experiment, there are four stage. The first stage is GPS
setting. On this stage the GPS is setup on the computer. For the second stage which is
GPS response testing, the GPS have to find any response by using the software that
come with the GPS. On the third stage accuracy experiments is proceed. After
that, test the accuracy of GPS with other type of GPS and check the number of
active channels. The test will be carried out at three different place which are
between the building, open space and trees area. Finally, it will come to real time
monitoring stage. For this stage, the GPS will be test on the mobile robot.
26
3.1
EQUIPMENT AND MATERIALS
3.1.1 Global Positioning System On Computer
Figure 3.1 : Mouse GPS

Laptop computer can be turn into a Global Positioning System navigation by
installing a compact and cheap receiver, and friendly mapping software. The bad things
of this GPS is less of portability when compared to others types of GPS. The good
things about this GPS involve a quite huge screen display lots of map details, and able
to carry out detailed way planning and evaluation, when the software is great. One of
the example device that can use is GPS mouse. This device have adopt SkyTraqvenus 6
chipest with 65 channel for fast acquisition and reacquisition. This GPS mouse also
have high sensitivity (to -160dBm) and excellent performance in any weather
(cold/warm/Hot). This device also enable WAAS (Wide Area Augmentation System )
and EGNOS (Euro Geostationary Navigation Overlay Service).
27
3.1.2 Mobile Global Positioning System
Figure 3.2: Mobile GPS

The whole purpose of mobile GPS is to inform you, effectively and dependably,
way to get from one place to another place. Because of this, redirecting accuracy and
reliability remains to be the most important characteristic to discuss. It required to
dependably provide directions, offer an up-to-date data of routes and points of interest
(POIs), and also show minimum lag through obtaining any signal from satellite.
When it comes to providing the directions, a little of lag causes any less-thanoptimal last minute lane swap or turn. This device also enable WAAS (Wide Area
Augmentation System )
28
3.1.3 Smartphone Global Positioning System (GPS)
Figure 3.3: Smartphone GPS

To find out where the location is and to obtain turn-by-turn directions to the
location where to go.Brand-new phones that consistglobal positioning system (GPS)
receivers can perform just like that. Using thesuitable software or service package, they
are able todetermine where you are, provide way direction to where you want to go and
also provide details about nearby businesses.
A mobile phone is actually a complicated two-way radio. Base stations and
towers, are setup into a network of cells, deliver and receive radio signals. mobile
phones consist of low-power transmitters which can allowall of them get in touch with
the nearby tower.
When a person travel, they are move from one cell to another cell, and strength of the
phones signal is monitored by base station. When a person move toward the edge of
one cell, the strength of phone signal will decrease.While doing so, strength of the
signal will increase and this will update by base station when the person approach it.
When a person go from one cell to another cell, the towers transport the signal from one
to another. Latest smartphone has GLONASS (Global Orbiting Navigation Satellite
System) chip.
29
3.2
PROCEDURE
START
GPS SETTING
NO
GPS RESPONSE
TESTING
YES
ACCURACY EXPERIMENTS
REAL TIME MONITORING
FINISH
30
For the procedure of experiment, there are four stage. The first stage is GPS setting. On
this stage the GPS is setup on the computer. For the second stage which is GPS
response testing, the GPS have to find any response by using the software that come
with the GPS. On the third stage accuracy experiments is proceed. After that, test the
accuracy of GPS with other type of GPS and check the number of active channels. The
test will be carried out at three different place which are between the building, open
space and trees area. Finally, it will come to real time monitoring stage. For this stage,
the GPS will be test on the mobile robot.
3.2.1 GPS SETTING
Setup the GPS to the computer
3.2.2 GPS RESPONS TESTING
After plug in the GPS to the computer, try to find any response by using the software
that come with the GPS.
3.2.3 ACCURACY EXPERIMENTS
Test the accuracy of GPS with other type of GPS and check the number of active
channels. The test will be carried out at three different place which are between the
building, open space and trees area.
3.2.4 REAL TIME MONITORING
Test the GPS on the mobile robot.
31
CHAPTER 4
RESULTS AND DISCUSSIONS
4.0
INTRODUCTION
This chapter presents the result of Global Positioning System accuracy. The
result of GPS accuracy with 4 different types GPS under three different place. The
results obtained were then been compared in order to investigate the most accurate GPS.
4.1
GPS RESPONSE TESTING RESULT

GPS mouse on computer can detect highest GPS channel compare to
Smartphone and GPS mobile. Smartphone GPS can detect more GPS channel compare
to GPS mobile.
Table 4.1 : Number of GPS channel receiver according to type of GPS
Type of GPS
Global
Mobile Global
Smartphone
Positioning
Positioning
Global Positioning
System on
System
System
12
15
Computer (Mouse
GPS)
Number of GPS
18
channel receiver
4.2
ACCURACY EXPERIMENTS
The experiment was set up on 4 different location for each type of place. After
the latitude and longitude reading was taken, it will check by using Google map to find
the distance error. From this experiment, GPS mouse on computer show the highest
accuracy followed by smartphone GPS and mobile GPS.
4.2.1 Testing Place

The experiment was carryout at 3 different place which are between the
building, under the tree and open space. Each this place has 4 different location.
32
4.2.1.1 Between Building
(a)
(b)
(c)
(d)
Figure 4.1 : (a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4 for between
building
Table 4.2: Latitute and longitude for between building at location 1 and it distance error
GPS on computer
Mobile GPS
Smartphone GPS
N 3.54023
N 3.540302
N 3.540320
E 103.42815
E 103.428230
E 103.428207
Error: 5.13m
Error: 7.80m
Error: 7.15m
(Mouse GPS)
Location 1
33
GPS on computer
Mobile GPS
Smartphone GPS
N3.53981
N3.539656
N3.539753
E103.42808
E103.428174
E103.428173
Error : 5.35m
Error: 7.81m
Error : 7.14m
(Mouse GPS)
Location 2
GPS on computer
Mobile GPS
Smartphone GPS
N3.54020
N3.540749
N3.540743
E103.42773
E103.427804
E103.427670
Error:3.56m
Error: 5.13m
Error: 4.46m
(Mouse GPS)
Location 3
34
GPS on computer
Mobile GPS
Smartphone GPS
N3.53784
N3.537693
N3.540743
E103.43023
E103.430315
E103.427670
Error:3.35m
Error: 6.47m
Error: 4.46m
(Mouse GPS)
Location 4
4.2.1.2 Under the tree
(a)
(b)
(d)
(c)
Figure 4.2: (a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4 for under the
tree
35
Table 4.6: Latitute and longitude for under the tree at location 1 and it distance error
GPS on computer
Mobile GPS
Smartphone GPS
N 3.540343
N 3.540402
N 3.54042
E 103.427349
E 103.428523
E 103.428758
Error: 1.29m
Error: 1.93m
Error: 1.87m
(Mouse GPS)
Location 1
GPS on computer
Mobile GPS
Smartphone GPS
N3.538362
N3.538357
N3.53839
E103.429823
E103.429791
E103.42977
Error: 1.34m
Error: 1.95m
Error: 1.85m
(Mouse GPS)
Location 2
36
GPS on computer
Mobile GPS
Smartphone GPS
N3.539575
N3.539611
N3.53956
E103.429012
E103.429076
E103.42899
Error: 2.22m
Error: 3.42m
Error: 2.37m
(Mouse GPS)
Location 3
GPS on computer
Mobile GPS
Smartphone GPS
N3.537642
N3.537609
N3.53761
E103.429727
E103.429717
E103.42970
Error: 1.21m
Error: 1.42m
Error: 1.45m
(Mouse GPS)
Location 4
37
4.2.1.3 Open Space
(a)
(b)
(c)
(d)
Figure 4.3: (a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4 for open space
Table 4.10: Latitute and longitude for open space at location 1 and it distance error
GPS on computer
Mobile GPS
Smartphone GPS
N 3.539242
N 3.53945
N 3.539496
E 103.428278
E 103.42831
E 103.428288
Error:1.38m
Error:2.72m
Error: 2.95m
(Mouse GPS)
Location 1
38
GPS on computer
Mobile GPS
Smartphone GPS
N3.538257
N3.53832
N3.538311
E103.428625
E103.42870
E103.428625
Error:1.02m
Error:1.56m
Error: 1.12m
(Mouse GPS)
Location 2
GPS on computer
Mobile GPS
Smartphone GPS
N3.540012
N3.54001
N3.540013
E103.427395
E103.42744
E103.427448
Error:0.53m
Error:1.02m
Error: 0.68m
(Mouse GPS)
Location 3
39
GPS on computer
Mobile GPS
Smartphone GPS
N3.537402
N3.53744
N3.537393
E103.429257
E103.42932
E103.429287
Error:1.42m
Error:2.57m
Error: 1.56m
(Mouse GPS)
Location 4
40
4.3
AVERAGE DISTANCE ERROR

Mouse GPS on computer show smallest distance error compare to Smartphone
GPS and mobile GPS. When experiment conduct between the building, average
distance error show the highest error compare to under tree and open space. By using
measuring tape, the distance error was measured from the original point stand during
experiment to the point that read from google map.
Table 4.14: Average distance error for latitude and longitude between building
GPS on Computer
Mobile GPS
(Mouse GPS)
Smartphone
GPS
Error Location 1 (m)
5.13
7.80
7.15
5.35
7.81
7.14
3.36
5.13
4.46
3.35
6.47
4.46
Average distance Error
4.35
6.80
5.80
Table 4.15: Average distance error for latitude and longitude under the tree
GPS on Computer
Mobile GPS
Smartphone GPS
(Mouse GPS)
1.29
1.93
1.87
1.34
1.95
1.85
2.22
3.42
2.37
1.21
1.42
1.45
1.52
2.18
1.89
41
Table 4.16: Average distance error for latitude and longitude open space
GPS on Computer
Mobile GPS
Smartphone GPS
(Mouse GPS)
1.38
2.72
2.95
1.02
1.56
1.12
0.53
1.02
0.68
1.42
2.57
1.56
1.08
1.97
1.58
4.4
DISCUSSION
GPS Mouse that connect on the computer is more accurate followed by
Smartphone GPS and Mobile GPS because GPS mouse can support Adopt SkyTraq 6
chipset with 65-channel which this help the GPS receive more satellite channel compare
to Mobile GPS and Smartphone GPS. GPS Mouse also enable WAAS (Wide Area
Augmentation System ) and EGNOS (Euro Geostationary Navigation Overlay Service).
The Wide Area Augmentation System (WAAS) will monitor and correct the ranging
signals from the GPS constellation of satellites. Most importantly, WAAS will provide
a certified level of integrity. The corrections will improve the vertical accuracy of the
system from ten or more meters to just one or two (Todd Walter, 2002). The European
Geostationary Navigation Overlay Service (EGNOS) system is being developed in
Europe to provide Global Positioning System (GPS) and GLONASS regional
augmentation services to aviation, maritime and land users. The EGNOS system, as any
other Wide Area Augmentation System (WAAS), relies on the broadcast of differential
correction and integrity information in the pseudo-range domain, which are then used to
provide a solution in the position domain (Olivier Perrin, Maurizio Scaramuzza,
Thomas Buchanan and Daniel Brocard, 2006). But currently WAAS satellite coverage
is only available in North America, Alaska, and Hawaii (Todd Walter, 2002) and
EGNOS only available in Europe and Africa (Olivier Perrin et al.,2006).
42
Mobile GPS also can support WAAS but unfortunately it was not available in
Malaysia. Latest Smartphone has GLONASS (Global Orbiting Navigation Satellite
System) chip. This system works alongside GPS (Global Positioning System) to
provide position information to compatible devices. GLONASS compatible
receivers can acquire satellites up to 20% faster than devices that rely on GPS alone
(Seppanen, 2012).
Open space have smallest average distance error and reading of latitude and
longitude between the building show the highest average distance error. According
to report (Official U.S. Information Website about the GPS System Available,2012)
the horizontal positioning error is less than 17 m for 99% of the time in average
conditions or 17 m for 90% of the time in worse outdoor conditions. The error
depends on many factors, like atmospheric conditions, sun activity, geographical
location, terrain type, satellites' constellation, etc. In an open space, positioning
errors are of 23 m. However, in dense built-up areas, the location error may reach
100 m (Modsching M., Kramer R., Hagen K ,2006 and Baranski P., Strumillo P
,2011) or even more ( Ong R.B., Petovello M.G., Lachapelle G, 2009). The error is
introduced due to multipath propagation of signals transmitted by the satellites when
there is no line-of-sight. A satellite signal is bounced off the walls of a building
before finding its way to a GPS receiver. The propagation time of the signal is
delayed and the GPS receiver miscalculates its location with a reference to the
satellites.
43
CHAPTER 5
CONCLUSION AND RECOMMENDATION
5.1
CONCLUSION
Global Positioning System (GPS) is a space-based satellite navigation system
that provides location and time information in all weather conditions. It is importance of
knowing and understand robot positioning, location identification for the robot to carry
on task given to it. Satellite signal is used to track and report the robot position in real
time. Therefore this system may be used as a location detection and reporting device for
this mobile robot project.
From the result shown in Chapter 4, it can be concluded that GPS Mouse
connected on the computer is more accurate followed by Smartphone GPS and Mobile
GPS. This is because, Adopt SkyTraq 6 chipset with 65-channel help the Mouse GPS
receive more satellite channel compare to Mobile GPS and Smartphone GPS. Besides
that, present of GLONASS (Global Orbiting Navigation Satellite System) chip in the
Smartphone help to acquire satellites up to 20% faster than devices that rely on GPS
alone (Seppanen, 2012). Finally, increase the number of GPS channel receiver will
increase the accuracy of GPS
5.2
RECOMMENDATIONS
There are many recommendations which can be implemented in order to
improve the results and extend the scope of the experiments. The recommendations
which can be taken into consideration are listed below:
i.
The experiment can conduct between skyscrapers building.
ii.
Take the reading of latitude and longitude in cloudy day for next experiment.
44
REFERENCES
Baddar Abbas, 2012, GPS Working Principle

Baranski P., Strumillo P. 2011. Fusion of Data From Inertial Sensors, Raster
Maps and GPS for Estimation of Pedestrian Geographic Location in Urban
Terrain. Metrol. Measure. Syst. 2011;1:145158.
Borenstein, J. and Feng. L. 1996. Measurement and Correction of Systematic
Odometry Errors in Mobile Robots. IEEE Journal of Robotics and Automation, Vol
12, No 5, October.
Borenstein, J., Everett, B., and Feng, L., 1996a, Navigating Mobile Robots:
Systems and Techniques. A. K. Peters, Ltd., Wellesley, MA, ISBN 1-56881-058-X.
Byrne, R.H., Klarer, P.R., and Pletta, J.B., 1992, Techniques for Autonomous
Navigation.Sandia Report SAND92-0457, Sandia National Laboratories, Albuquerque,
NM, March.
Chenavier, F. and Crowley, J., 1992, Position Estimation for a Mobile Robot
Using Vision and Odometry. Proceedings of IEEE International Conference on
Robotics and Automation, Nice, France, May 12-14, pp. 2588-2593.
Coleman Benson, 2012. Basics: What Types of Mobile Robots are There?
Cox, I.J., 1991, Blanche - An Experiment in Guidance and Navigation of an
Autonomous Mobile Robot. IEEE Transactions Robotics and Automation, 7(3), pp.
193-204.
J. Borenstein, H.R. Everett, L. Feng, and D. Wehe. 2000. Mobile Robot
Positioning & Sensors and Techniques Vol. 14 No. 4, pp. 231 249.
45
Modsching M., Kramer R., Hagen K.2006. Field Trial on GPS Accuracy in a
Medium Size City: The Influence of Built-up. Proceedings of the 3rd Workshop on
Positioning, Navigation and Communication; Hannover, Germany.; pp. 209121.
Muhamad Ashadi B. Abdul Rahman. 2007.
Autonomous Mobile Robot
Navigating Toward a Present Target

National Geographic, 2002, Basic Map & GPS Skill
Official U.S. Information Website about the GPS System Available online:
http://www.gps.gov
Olivier Perrin , Maurizio Scaramuzza , Thomas Buchanan and Daniel Brocard,
2006, Flying EGNOS Approaches in the Swiss Alps, Journal of Navigation Journal of
Navigation / Volume 59 / Issue 02 / May 2006, pp 177-185
Ong
R.B.,
Petovello
M.G.,.
Lachapelle
G.
2009.
Assessment
of
GPS/GLONASS RTK under Various Operational Conditions. Proceedings of the 22nd

International Technical Meeting of the Satellite Division of the Institute of Navigation
(ION GNSS 2009); Savannah, GA, USA. 2225 September 2009; pp. 32973308.
Phillip McKerrow,1991. Introduction to Robotics, Addison-Wesley, (Chapter 1).
Roland Siegwart and Illah R. Nourbakhsh, 2004. Introduction to Autonomous
Mobile Robots
Seppanen, Mari, Ala-Luhtala, Juha, Piche, Robert, Martikainen, Simo, AliLoytty, Simo, 2012. "Autonomous Prediction of GPS and GLONASS Satellite
Orbits", NAVIGATION, Journal of The Institute of Navigation, Vol. 59, No. 2, Summer
2012, pp. 119-134.

Full Thesis Mobile Robot Location and Monitoring System

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MOBILE ROBOT LOCATION AND MONITORING SYSTEM

AMANINA FARHANA BINTI AHMAD

Faculty of Mechanical Engineering

Name of Supervisor : IR DR AKHTAR RAZUL BIN RAZALI

: AMANINA FARHANA BINTI AHMAD

I am grateful and would like to express my sincere gratitude to my supervisor Ir

Scope Of The Project

2.1.1 Type of Robotics

2.1.1 Type of Mobile Robot

Mobile Robot And it's Issue

2.3.1 Location And Status Reporting

The Global Positioning System (GPS) : Principles & Concepts

2.5.1 Global Positioning System (GPS) And Field

Positioning Coordinate and Reading

2.6.1 Latitude and Longitude, The True Coordinate System

Equipment And Materials

3.1.1 Global Positioning System On Computer

RESULTS AND DISCUSSIONS

GPS Response Testing Result

Accuracy Experiment Result

4.2.1 Testing Place

Average Distance Error

CONCLUSION AND RECOMMENDATIONS

Number of GPS channel receiver according to type of GPS

Latitute and longitude for between building at location 1 and it

Latitute and longitude for between building at location 2 and it

Latitute and longitude for between building at location 3 and it

Latitute and longitude for between building at location 4 and it

Latitute and longitude for under the tree at location 1 and it

Latitute and longitude for under the tree at location 2 and it

Latitute and longitude for under the tree at location 3 and it

Latitute and longitude for under the tree at location 4 and it

Latitute and longitude for open space at location 1 and it

Latitute and longitude for open space at location 2 and it

Latitute and longitude for open space at location 3 and it

Latitute and longitude for open space at location 4 and it

Average distance error for latitude and longitude between

Average distance error for latitude and longitude open space

Land based wheeled robot

Land based tracked robot

Land based legged robot

Global Positioning System (GPS) working principle

(a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4

(a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4

(a) Location 1, (b) Location 2, (c) Location 3, (d) Location 4

European Geostationary Navigation Overlay Service

Global Orbiting Navigation Satellite System

Global Positioning System

Universal Transverse Mercator

Wide Area Augmentation System

objective. This mobile robot is controlled by wireless communication, Wi-Fi. As an

The aims of the project are set as follows:

To develop location finder system for a mobile robot application.

To conduct comparison study on different type of GPS.

(GPS) device is used to provide a location information of the robot.

SCOPE OF THE PROJECT

Perception. Robotics unlike to some other branches is a realistically new domain of

2.1.1 Types of Robotics

2.1.1.4 Military Robots

2.1.2 APPLICATIONS OF ROBOTS

2.1.2.2 Medical robots

2.2.1 Type of Mobile Robot

Land-based wheeled robot

Land-based legged robot