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Patent Details

Applicant:
Indian Institute of Technology (IIT) Roorkee 
Title:
Unmanned terrestrial auto-navigation system for geospatial date 
Inventor(s):
Jayanta Kumar Ghosh, and Sharwan Ram 
Applicant:
Indian Institute of Technology (IIT) Roorkee 
Application type:
Applied - 2017-12-07 
Application Number:
201711043997 
Applied at:
India 
Entered by:
Indian Institute of Technology (IIT) Roorkee 
Abstract:
The invention consists of a portable unmanned terrestrial vehicle for acquisition of geospatial data from inaccessible areas. The system provides the auto-navigation solution based on heading information. The system remains un-affected by surrounding ferrous objects. The unmanned terrestrial vehicle is a four wheel portable system, capable of carrying a payload up to 3 kg and having navigation endurance of 6 hours. The ground control station comprises of the GNSS base station, two computers, internet module, and a wireless communication module. The auto-navigation system comprises of an embedded system coupled with non-vision based navigation and data acquisition sensors, wireless communication system and the ground control station. The embedded system comprises of four micro-controllers and are interfaced in such a way that they can handle multi-sensors data using parallel processing technique. One of the micro-controller (CPU) is used to compute auto-navigation solution, and send control signals to the motors of the system. It provides the position information to the main processing unit which is directly interfaced with accelerometer, gyro, and magnetometer sensors and computes the position and heading. Another microcontroller is interfaced with a RTK GNSS receiver. Furthermore, it handles the GNSS data as well as another micro-controller data (Which is interfaced with two odometer sensors attached to the rear wheels of the system and take measurements through sensor and also make the measurements available to the CPU). It also processes the data, extract information from the available data and synchronize all the sensors and micro-controllers. The RTK GNSS receiver is also connected to a wireless communication module. Another micro-controller is attached to a WiFi module, micro-controller and CPU in such a way that it can upload real-time geospatial data on cloud storage and can receive commands from the ground control station. The wireless communication system is a WiFi module connected through a smart phone. The terrestrial vehicle can survey an area automatically as well as can establish the control points. The system also provides reliable auto-navigation solution even during obstructed GNSS signals.  

 
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