Skip to main content
SpringerLink
Log in

Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications

  • Conference paper
Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5325))

Abstract

Advances in the field of robotic simulations in general and the complexity of virtual outdoor environments in particular have created a demand for accurate simulated open-air localization devices. In this paper, we answer this request by presenting the implementation of a simulated Global Positioning System receiver for the popular USARSim platform. The engineering tradeoff of speed versus accuracy is encountered throughout the design process and discussed comprehensively in the paper. Along the lines of a validation methodology we developed in recent years, the simulated sensor is implemented and extensively analyzed in a real/simulated scenario, where data logged from a real robot is evaluated against the data acquired in simulation.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Balakirsky, S., Scrapper, C., Balaguer, B., Farinelli, A., Carpin, S.: Virtual Robots: progresses and outlook. SRMED (2007)

    Google Scholar 

  2. Carpin, S., Stoyanov, T., Nevatia, Y., Lewis, M., Wang, J.: Quantitative assessments of USARSim accuracy. In: Proceedings of PerMIS (2006)

    Google Scholar 

  3. Wang, J., Lewis, M., Hughes, S., Koes, M., Carpin, S.: Validating USARSim for use in HRI Research. In: Proceedings of the Human Factors and Ergonomics Society 49th Annual Meeting, pp. 457–461 (2005)

    Google Scholar 

  4. Pepper, C., Balakirsky, S., Scrapper, C.: Robot Simulation Physics Validation. In: Proceedings of PerMIS (2007)

    Google Scholar 

  5. Balakirsky, S., Lewis, M., Carpin, S.: The Virtual Robots Competition: vision and short term roadmap. SRMED (2006)

    Google Scholar 

  6. Carpin, S., Wang, J., Lewis, M., Birk, A., Jacoff, A.: High fidelity tools for rescue robotics: Results and perspectives. In: Robocup Symposium (2005)

    Google Scholar 

  7. Hoots, F., Roehrich, R.: Spacetrack Report No. 3 - Models for Propagation of NORAD Element Sets. Project Spacetrack Reports, Peterson (1988)

    Google Scholar 

  8. Vallado, D., Crawford, P., Hujsak, R., Kelso, T.: Revisiting Spacetrack Report #3. In: AIAA/AAS Astrodynamics Specialist Conference (2006)

    Google Scholar 

  9. Kelso, T.: Validation of SGP4 and IS-GPS-200D Against GPS Precision Ephemerides. In: AAS/AIAA Space Flight Mechanics Conference (2007)

    Google Scholar 

  10. Definition of Two-Line Element Set Coordinate System, http://spaceflight.nasa.gov/realdata/sightings/SSapplications/Post/JavaSSOP/SSOP_Help/tle_def.html

  11. Space Track The Source for Space Surveillance Data, http://www.space-track.org/

  12. NASA Science@NASA J-Track 3D, http://science.nasa.gov/realtime/jtrack/3d/JTrack3D.html

  13. Real Time Satellite Tracking, http://www.n2yo.com/?k=20

  14. Magliacane, J.: Portable PREDICT Plus! A Satellite Tracking, Pacsat Yakking, APRS Hacking, Linux Packing Mini Application Suite You Can Carry with You. CQ-VHF Magazine (2005)

    Google Scholar 

  15. Owen, M., Knickerbocker, C.: Nova for Windows, Real Time Tracking of an Unlimited Number of Satellites. Northern Lights Software Associates (2006)

    Google Scholar 

  16. Stoff, S.: Orbitron - Satellite Tracking System. Quick Starting Guide (2005)

    Google Scholar 

  17. Haupt, M.: Applicability of OSS to Space Thermal Engineering Open Source Software for Engineering Purposes. In: European Workshop on Thermal and ECLS Software (2003)

    Google Scholar 

  18. Kaplan, E., Hegarty, C.: Understanding GPS: Principles and Applications. Artech House Publishers, Norwood (2005)

    Google Scholar 

  19. Shirley, P., Morley, K.: Realistic Ray Tracing. AK Peters, Wellesley (2003)

    Google Scholar 

  20. Box, G., Muller, M.: A Note on the Generation of Random Normal Deviates. The Annals of Mathematical Statistics 29, 610–611 (1958)

    Article  MATH  Google Scholar 

  21. Balaguer, B., Carpin, S., Balakirsky, S.: Towards Quantitative Comparisons of Robot Algorithms: Experiences with SLAM in Simulation and Real World Systems. In: IROS 2007 Workshop (2007)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Engineering, University of California Merced, 5200 North Lake Road, Merced, CA 95343, USA

    Benjamin Balaguer & Stefano Carpin

Authors
  1. Benjamin Balaguer
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Stefano Carpin
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. School of Engineering, University of California, Merced,, 5200 North Lake Rd, CA 95343, Merced, USA

    Stefano Carpin

  2. Information Technology Research Institute National Institute of Advanced Industrial Science and Technology, 1-1-1 Umezono, Tsukuba, Ibaraki, Japan

    Itsuki Noda

  3. Department of Information Engineering (DEI), University of Padua, Via G. Gradenigo, 6/a, 35131, Padova, Italy

    Enrico Pagello

  4. Department of Management and Engineering (DTG), University of Padua Stradella San Nicola, 3 I-36100, Vicenza, Italy

    Monica Reggiani

  5. Simulation, Systems Optimization and Robotics Group, Technische Universität Darmstadt, Hochschulstraße 10, 64289, Darmstadt, Germany

    Oskar von Stryk

Rights and permissions

Reprints and permissions

Copyright information

© 2008 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Balaguer, B., Carpin, S. (2008). Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89076-8_23

Download citation

  • DOI: https://doi.org/10.1007/978-3-540-89076-8_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89075-1

  • Online ISBN: 978-3-540-89076-8

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation