![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-content\/uploads\/sites\/22\/2017\/11\/pcb_on_chassis.jpg\")
<\/p>\nGoal:
\nTest repeatability of GPS RTK waypoints<\/p>\n
Setup:
\nDistributed 4 markers along field by Doherty apartments<\/p>\n
RTK base station (GrudsBase) on grass by road entering parking lot, high ground away from trees. Antenna ground plane on tripod, electronics on ground and connected to tripod away from antenna<\/p>\n
Methods:
\nWalked between waypoints
\nAt each waypoint, GrudsRover was placed on ground touching marker
\nReachView survey app \u2018collect\u2019 initiated at each marker
\n\tAllowed to acquire for ten seconds per data point
\nCollected 40 data points total over the 4 markers<\/p>\n
Analysis:
\nPoint 1: 2.96944755848 feet average between points
\nPoint 2: 3.16986453992 feet average between points
\nPoint 3: 4.08993914374 feet average between points
\nPoint 4: 4.49758442594 feet average between points<\/p>\n
This squeaks by for our requirements for the Fall Validation Experiment, but not the results we were hoping for with our GPS RTK system. We are looking in to upgrading our GPS antennae to increase accuracy.<\/p>\n
GroundsBot recently received version 1 Power Distribution and Integration PCB. The PCB was promptly populated and tested.<\/p>\n
Step 1 was testing the 12V and 5V power supply rails. Out of the gate, we had an enable line pulled low on the 5V supply (data sheet listed as active low enable… it is not an active low enable). The power supply was modified, and now both supplies are operational.<\/p>\n
The under voltage lockout comparator output required some rework to add bypass capacitors, and is now working. This subsystem generates an enable for the relay drivers. The system output goes low (disable) when the battery input voltage drops below 20V, and re-enables at approximately 23V.<\/p>\n
The remote control subsystem was tested and works out of the box. Success!<\/p>\n
After some pin remapping, an Arduino Mega was installed on our Integration PCB, and our motor control and motor encoder functionality was validated.<\/p>\n
<\/p>\n
![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-content\/uploads\/sites\/22\/2017\/11\/pcba_bot.jpg\")
<\/p>\n
![\"\"](\"http:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-content\/uploads\/sites\/22\/2017\/11\/pcba_top.jpg\")
<\/p>\n","protected":false},"excerpt":{"rendered":"
Emlid Reach GPS RTK Goal: Test repeatability of GPS RTK waypoints Setup: Distributed 4 markers along field by Doherty apartments RTK base station (GrudsBase) on grass by road entering parking lot, high ground away from trees. Antenna ground plane on tripod, electronics on ground and connected to tripod away from antenna Methods: Walked between waypoints Read more about Test Results<\/span>[…]<\/a><\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"template-fullwidth.php","meta":{"footnotes":""},"class_list":["post-313","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/pages\/313","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/comments?post=313"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/pages\/313\/revisions"}],"predecessor-version":[{"id":343,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/pages\/313\/revisions\/343"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teama\/wp-json\/wp\/v2\/media?parent=313"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}