
Actual
Heading
Stop Forward Reverse Left Reverse
000 001 001 001 001 001
045 050 050 050 050 050
090 098 098 098 098 098
135 142 142 142 142 142
180 180 179 179 179 179
225 219 219 219 219 219
270 263 263 263 263 263
315 310 310 310 310 310
Table 1. Compass Swing Check.
Additional tests of heading accuracy were conducted in the field at the Navy
beach in Monterey CA and at the softball field on NPS. Accounting for initial
corrections made by the platform as it found its desired headings, all tests showed an
operational heading accuracy of ±10°.
D. GPS ACCURACY
Multiple test runs were conducted at the softball field at NPS with encouraging
results. The GPS card on the SMART platform was operating without differential
antennae installed and in that configuration; the rated accuracy of the card is only 100m.
During a series of tests heading towards a common waypoint from various distances and
directions the robot was able to accurately navigate to within 15m of the desired location.
Given that the robot was programmed to stop navigating when it was within 5m of the
waypoint and the accuracy of the card was 100m a repeatable accuracy of 15m was
acceptable. Future iterations of the SMART platform will employ a differential antennae
and increased accuracy is expected.
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