GPS

Abstract

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With the help of a GPS receiver (e.g. GY-NEO6MV2, ublox 6m), the long-term position can be calculated. Therefore, the GPS position values will be averaged.

Currently, GPS is used

• to receive current date and time

Wiring:

GPS TX (3.3V compatible) -- Arduino RX
GPS RX (3.3V compatible) -- Arduino TX
GPS VCC -- Arduino VCC 5V
GPS GND -- Arduino GND

Visualization of GPS data

GPS data (course, speed, position etc.) can be plotted by pfodApp:

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Fusion of sensor values

1. Calculation of short-time position by Odometry and Compass
2. Calculation of long-term position via GPS

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A Kalman filter can be used to fuse all sensor values.