Vector Nav Testing

Project	Task	Project Manager

Project	Task	Project Manager
Sensors	Test Vector Nav GPS	@Alex Szabo

Task Description

Need for project: The vector nav is an essential sensor for our rover. The vector nav is responsible for getting the GPS and IMU data for the rover, and without it, we would not be able to understand where the robot is in space and how it is oriented in that space.

Goal: Run the current vector nav code on the team GitHub and determine if accuracy is within 1m for GPS data. If it is not within 1m, create a plan to implement differential GNSS or another means of improving GPS location accuracy.

Requirements:

GPS readings must be within 1m of the location

Must run multiple tests, record the results and perform analysis to determine how accuracy can be improved

Supporting Resources:

GitHub - uwrobotics/uwrt_mars_rover at user/wang-edward/212/autonomy-vectornav

VectorNav's VN-300 Dual GNSS/INS - GNSS Compass and INS in one

GitHub - dawonn/vectornav: ROS Interface for the VectorNav IMU/GPS

https://gssc.esa.int/navipedia/index.php/Differential_GNSS

Constraints

Constraints	Author	Appended Date

Constraints	Author	Appended Date
N/A	N/A	N/A

Subteam Contacts

Subteam	Contact	Description

Subteam	Contact	Description

Subteam	Contact	Description

Subteam	Contact	Description
Software	Alex Szabo: @Alex Szabo	For ROS2 Questions
Software	Edward Wang: @Edward Wang	Questions about code

Assignees

Assignee	Monday Task	Date

Assignee	Monday Task	Date
XX	Monday Task	Jul 21, 2024

Task Progression/Updates

Author: @person: 2024/05/04

UPDATE

Bullet points for updates

Communication

Communication must be proactive. The subteam lead will check in with you at least once a week to get a progress report update, but it is very important that when a roadblock occurs, you reach out for help and update Monday with a blocked or stuck status.

Blocked: for tasks that have dependencies on other projects that have not been completed yet

Stuck: you are unable to get something working.

Documentation

Upon making progression updates, please update the documentation page for this project with any critical information and resources.

Add documentation to this document: Vector Nav
Documentation Guide: SW/FW Documentation Guideline