Summary
Indoor positioning system for an autonomous dressage sand leveling robot.
- Task
- Total Area
- Quantity
- Autonomous
- Indoor only
- Operations
- Investment
- Daily sand leveling
- 45 x 25m
- One robot
- YES
- YES
- Daily
- 750 - 1500 EUR
Multiple intermediate variants are possible between the recommended and the super-stretched configurations.
For example, having 4 x stationary beacons only on one wall will improve the coverage by reducing the maximum distances while keeping the system simple and requiring only about 60% of investments compared with the recommended configuration.
Still, the recommended configuration is the safest choice providing the most robust tracking.
Task
The customer is building a dressage sand leveling robot for daily operations and needs a simple-to-use and integrate indoor positioning system.
Conditions
- Easy open space environment. No obstructions
- Relatively small-size area
- Indoor only, i.e. mild or no requirements for ingress protection
- Tempered thermal requirements
Requirements
The robot will be autonomously driving under the control of the embedded microcomputer autopilot and needs:
- – Precise localization
– Direction/pose
– Waypoints to drive a snake pattern
- Accuracy - as high as possible
- 2D only
- Direction/pose is required
- No need for special ingress protection
- Location + DIrection data must be available directly from the mobile beacon(s)
Solution
Since conditions are simple, several options are possible and offered. The choice is purely a matter of the customer’s preferences.
- Architecture: NIA, IA or MF NIA
- Accuracy of positioning: ±2cm
- Accuracy of static direction: ±3° typ. - depending on the base between the mobile beacons
- Resolution of dynamic direction: better than ±0.1°
- Location + Direction: two mobile beacons per robot with as large base as possible
- Location update rate: 5-6Hz
Recommended configuration
Options, upgrades, and expansions
- For larger area - more stationary Super-Beacons
- For more ingress protection - Super-Beacons-Outdoor
- For even more ingress protection or industrial interfaces (RS485) - Industrial Super-Beacons
- For easy UDP streaming over WiFi - Super-Modem
- Large external batteries for stationary beacons, if fixed supply is not available
- For stronger radio connection in challenging environment - Full-size antennas
- If IA is selected - 2 x Omni-Microphones per robot