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52
I
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d
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J
E
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g
&
C
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m
p
Sci
,
Vo
l.
37
,
No
.
3
,
Ma
r
ch
20
25
:
1
569
-
1
5
7
9
1570
As
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ee
n
c
ar
r
i
e
d
o
u
t
[
1
1
]
,
[
1
2
]
.
On
e
p
r
o
m
is
in
g
a
p
p
r
o
ac
h
to
o
v
er
co
m
e
th
is
ch
allen
g
e
is
th
e
ap
p
licatio
n
o
f
Kalm
an
f
ilter
s
[
1
3
]
.
Kalm
a
n
f
ilter
s
ar
e
wid
ely
u
s
ed
in
n
av
ig
atio
n
s
y
s
tem
s
to
est
im
ate
th
e
s
tate
o
f
a
d
y
n
a
m
ic
s
y
s
tem
b
ased
o
n
a
s
er
ies
o
f
n
o
is
e
m
ea
s
u
r
em
en
ts
[
1
4
]
-
[
1
6
]
.
B
y
in
teg
r
atin
g
d
ata
f
r
o
m
m
u
ltip
le
s
en
s
o
r
s
an
d
r
ef
in
in
g
esti
m
ates
o
v
er
tim
e,
Kalm
an
f
ilter
s
ca
n
s
ig
n
if
ican
tly
im
p
r
o
v
e
th
e
ac
cu
r
ac
y
an
d
r
eliab
ilit
y
o
f
n
a
v
ig
atio
n
[
1
7
]
,
[
1
8
]
.
T
h
is
p
ap
er
f
o
cu
s
es
o
n
th
e
s
im
u
latio
n
,
d
ev
elo
p
m
en
t,
an
d
e
v
alu
atio
n
o
f
a
Kalm
an
f
ilter
-
b
ased
AM
R
n
av
ig
atio
n
s
y
s
tem
f
o
r
u
n
m
a
n
n
ed
ar
m
o
r
ed
v
eh
icles.
W
e
in
v
esti
g
ate
th
e
ef
f
ec
tiv
e
n
ess
o
f
th
e
Kalm
an
f
ilter
i
n
im
p
r
o
v
in
g
n
av
i
g
atio
n
ac
cu
r
a
cy
in
v
ar
io
u
s
s
ce
n
ar
io
s
,
in
clu
d
in
g
s
tr
aig
h
t
-
lin
e
t
r
ajec
to
r
ie
s
,
s
h
ar
p
tu
r
n
s
,
an
d
o
b
s
tacle
-
f
illed
en
v
ir
o
n
m
en
ts
.
T
h
e
co
n
tr
o
l
s
y
s
tem
d
esig
n
in
c
lu
d
es
f
ea
tu
r
es
s
u
ch
as
co
n
tr
o
l
lin
g
th
e
m
o
v
em
e
n
t
o
f
th
e
d
r
iv
e
r
less
ca
r
v
ia
a
g
lo
b
al
p
o
s
itio
n
s
y
s
tem
(
GPS
)
s
y
s
t
em
,
d
ig
ital
co
m
p
ass
,
an
d
lid
ar
s
en
s
o
r
s
to
im
p
r
o
v
e
d
ir
ec
tio
n
al
co
n
tr
o
l
a
n
d
o
b
s
tacle
av
o
id
an
ce
[
1
9
]
-
[
2
1
]
.
T
h
e
s
i
g
n
if
ican
ce
o
f
th
is
r
esear
ch
lies
in
ad
d
r
ess
in
g
th
e
g
ap
b
etwe
en
ex
is
tin
g
n
av
ig
at
io
n
s
y
s
tem
s
an
d
t
h
e
r
e
q
u
ir
e
m
en
ts
f
o
r
h
ig
h
p
r
ec
is
io
n
in
m
ilit
ar
y
ap
p
licatio
n
s
.
W
h
ile
m
an
y
s
tu
d
ies
h
a
v
e
u
tili
ze
d
s
en
s
o
r
f
u
s
io
n
tech
n
iq
u
es,
th
e
in
teg
r
ati
o
n
o
f
Kalm
a
n
Fil
ter
s
o
f
f
er
s
a
p
r
o
m
is
in
g
a
p
p
r
o
ac
h
to
r
ef
in
in
g
n
av
ig
atio
n
ac
cu
r
ac
y
.
Fo
r
i
n
s
tan
ce
,
s
tu
d
ies
b
y
[
2
2
]
-
[
2
4
]
h
a
v
e
d
em
o
n
s
tr
ated
th
e
p
o
ten
tial
o
f
Kalm
a
n
Fil
ter
s
in
im
p
r
o
v
in
g
s
tate
esti
m
atio
n
in
m
o
b
ile
r
o
b
o
ts
.
Ho
wev
er
,
th
ese
s
tu
d
ies
o
f
ten
f
o
cu
s
ed
o
n
co
n
tr
o
lled
e
n
v
ir
o
n
m
en
ts
o
r
lack
e
d
co
m
p
r
eh
e
n
s
iv
e
f
ield
test
in
g
.
T
h
is
p
a
p
er
aim
s
to
f
ill
th
is
g
ap
b
y
d
ev
elo
p
in
g
a
r
o
b
u
s
t
n
av
ig
atio
n
s
y
s
tem
f
o
r
AM
R
s
th
at
ca
n
o
p
er
ate
ef
f
ec
tiv
ely
in
r
ea
l
-
wo
r
ld
s
ce
n
ar
io
s
.
T
h
e
r
esear
ch
b
u
ild
s
o
n
t
h
e
wo
r
k
o
f
p
r
e
v
io
u
s
co
n
tr
i
b
u
to
r
s
b
u
t
d
is
tin
g
u
is
h
es
its
elf
b
y
its
f
o
cu
s
o
n
in
teg
r
atin
g
Kalm
an
f
ilter
s
with
a
co
m
b
i
n
atio
n
o
f
GPS,
lid
ar
s
en
s
o
r
s
,
an
d
d
i
g
ital
co
m
p
ass
es
f
o
r
e
n
h
an
ce
d
n
av
ig
atio
n
ac
cu
r
ac
y
.
T
h
e
f
o
llo
win
g
s
ec
tio
n
s
will
o
u
tlin
e
th
e
p
r
o
b
lem
,
r
ev
iew
r
elev
a
n
t
liter
atu
r
e
,
an
d
d
escr
ib
e
t
h
e
m
eth
o
d
o
l
o
g
y
u
s
ed
to
ad
d
r
ess
th
e
id
en
tifie
d
g
ap
s
.
AM
R
o
p
er
atio
n
is
f
ac
ilit
a
ted
b
y
s
ettin
g
latitu
d
e
an
d
lo
n
g
itu
d
e
co
o
r
d
in
ates
o
n
a
m
ap
an
d
u
tili
zin
g
th
e
Ar
d
u
in
o
Me
g
a
b
o
a
r
d
as
th
e
m
ain
p
r
o
ce
s
s
o
r
,
wh
ich
wo
r
k
s
to
g
eth
er
with
th
e
m
o
to
r
co
n
tr
o
l
u
n
it,
d
ig
ital
co
m
p
ass
an
d
GPS
m
o
d
u
le.
T
h
e
s
y
s
tem
is
d
esig
n
ed
to
d
eter
m
in
e
th
e
AM
R
'
s
p
o
s
itio
n
co
o
r
d
in
ates,
tr
an
s
m
it
th
e
co
o
r
d
in
ates
t
o
th
e
co
n
tr
o
ller
,
an
d
in
c
o
r
p
o
r
ate
o
b
s
tacle
av
o
id
an
ce
ca
p
ab
ilit
ies
f
o
r
d
y
n
am
i
c
o
b
s
tacle
av
o
id
an
ce
d
u
r
in
g
th
e
m
is
s
io
n
.
Ad
d
itio
n
a
lly
,
a
co
m
p
ass
is
in
teg
r
ated
t
o
h
elp
co
n
t
r
o
l
th
e
d
ir
ec
tio
n
o
f
m
o
v
em
en
t
o
f
t
h
e
AM
R
,
en
s
u
r
in
g
ac
cu
r
ate
n
a
v
ig
atio
n
to
war
d
s
th
e
d
esire
d
d
esti
n
atio
n
.
B
y
co
n
d
u
ctin
g
ex
p
er
i
m
en
tal
s
tu
d
ies
an
d
an
aly
zin
g
th
e
r
esu
lts
,
we
aim
to
d
em
o
n
s
tr
ate
th
e
p
o
ten
ti
al
o
f
Kalm
an
f
ilter
s
to
s
ig
n
if
ican
tly
im
p
r
o
v
e
th
e
p
er
f
o
r
m
an
ce
o
f
u
n
m
an
n
e
d
ar
m
o
r
ed
v
eh
icle
n
a
v
ig
atio
n
s
y
s
tem
s
.
T
h
r
o
u
g
h
th
is
r
esear
ch
,
we
s
ee
k
to
co
n
tr
ib
u
te
to
th
e
ad
v
an
ce
m
en
t
o
f
T
h
aila
n
d
'
s
d
ef
en
s
e
ca
p
ab
ilit
ies
b
y
d
ev
elo
p
in
g
r
o
b
u
s
t
an
d
p
r
ec
is
e
n
av
ig
atio
n
s
o
lu
tio
n
s
f
o
r
u
n
m
an
n
e
d
ar
m
o
r
ed
v
e
h
icles.
T
h
e
o
r
g
an
izatio
n
o
f
th
is
wo
r
k
is
as
f
o
llo
ws:
th
e
s
u
b
s
eq
u
en
t
s
ec
tio
n
p
r
o
v
id
e
s
an
elab
o
r
ate
m
eth
o
d
o
lo
g
y
s
ec
tio
n
th
at
d
eli
n
ea
tes
th
e
d
esig
n
,
d
e
v
elo
p
m
e
n
t,
an
d
ev
al
u
atio
n
o
f
th
e
s
u
g
g
ested
na
v
ig
atio
n
s
y
s
tem
.
T
h
e
r
esu
lts
s
ec
tio
n
co
n
tain
s
em
p
ir
ical
o
b
s
er
v
atio
n
s
,
wh
ich
ar
e
a
n
aly
ze
d
in
r
elatio
n
to
p
r
io
r
r
esear
ch
,
an
d
th
e
p
a
p
er
f
in
is
h
es
with
a
d
is
cu
s
s
io
n
o
f
im
p
licatio
n
s
o
f
th
is
s
tu
d
y
an
d
r
e
co
m
m
en
d
atio
n
s
f
o
r
f
u
tu
r
e
r
esear
c
h
.
2.
M
E
T
H
O
D
2
.
1
.
M
ec
ha
nica
l,
elec
t
ro
nics
,
a
nd
s
o
f
t
wa
re
des
ig
n
As
an
in
itial
s
tag
e
o
f
t
h
is
r
esear
ch
,
t
h
e
m
ec
h
an
ical
d
esig
n
o
f
th
e
AM
R
r
esem
b
les
a
m
i
n
iatu
r
e
tan
k
.
T
h
is
m
o
b
ile
r
o
b
o
t
co
n
ce
p
t
ad
o
p
ts
a
ca
ter
p
illar
tr
ac
k
with
s
ev
er
al
co
m
b
in
atio
n
s
o
f
g
ea
r
s
,
b
ea
r
in
g
s
,
s
tr
u
ts
,
co
il
s
p
r
in
g
s
,
ch
ain
s
,
a
n
d
two
DC
m
o
to
r
s
,
as
p
r
esen
te
d
in
Fig
u
r
e
1
.
T
h
e
r
ea
r
d
r
i
v
in
g
w
h
ee
l
is
d
ir
ec
tly
co
n
n
ec
te
d
to
th
e
DC
m
o
to
r
s
h
af
t a
n
d
s
er
v
es a
s
th
e
m
ain
m
o
v
er
o
f
th
is
r
o
b
o
t.
T
h
e
m
o
v
em
e
n
t o
f
th
is
m
o
b
ile
r
o
b
o
t a
d
ap
ts
th
e
d
if
f
er
en
tial
d
r
i
v
e
s
y
s
tem
.
At
th
is
p
r
o
to
ty
p
e
s
t
ag
e,
th
e
b
o
d
y
,
to
p
co
v
er
,
an
d
ca
ter
p
illar
tr
a
ck
o
f
th
e
tan
k
ar
e
m
ad
e
o
f
ir
o
n
.
T
h
er
e
ar
e
two
tr
ac
k
s
o
n
a
ca
ter
p
illar
tr
ac
k
v
eh
icle
o
n
e
o
n
ea
ch
s
id
e.
T
h
ese
v
eh
icles
ar
e
wid
ely
u
s
ed
in
m
in
in
g
,
ag
r
icu
ltu
r
e,
d
e
f
en
s
e,
an
d
o
th
er
o
f
f
-
r
o
ad
i
n
d
u
s
tr
ies.
2
.
2
.
K
ine
m
a
t
ic
m
o
del o
f
a
t
r
a
ck
ed
v
ehicle
Kin
em
atic
m
o
d
els
wer
e
d
ev
elo
p
ed
f
o
r
th
e
AM
R
b
ased
o
n
th
e
co
m
p
u
ter
aid
ed
d
esi
g
n
(
C
AD
)
m
ec
h
an
ical
d
esig
n
.
B
ec
au
s
e
o
f
its
s
u
p
er
io
r
h
a
n
d
lin
g
o
f
lo
n
g
itu
d
in
al
s
lid
es,
g
r
ea
ter
tr
ac
tio
n
,
an
d
d
ec
r
ea
s
ed
g
r
o
u
n
d
co
m
p
ac
tio
n
,
tr
ac
k
e
d
v
eh
icles a
r
e
b
ec
o
m
in
g
m
o
r
e
an
d
m
o
r
e
co
m
m
o
n
in
to
u
g
h
ter
r
a
in
.
T
h
eir
in
cr
ea
s
in
g
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elev
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to
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m
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lis
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ed
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in
g
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h
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t
an
d
r
i
g
h
t
tr
ac
k
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at
d
if
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e
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en
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s
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ee
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s
,
wh
ich
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u
s
es
th
e
tr
ac
k
ed
v
eh
icle
to
s
k
id
.
T
r
ac
k
ed
v
e
h
icles
h
a
v
e
co
n
tin
u
o
u
s
t
r
ac
k
s
,
s
im
ilar
to
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o
s
e
f
o
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n
d
o
n
m
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itar
y
tan
k
s
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W
e
s
ee
th
is
k
in
em
atic
m
o
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el
in
Fig
u
r
e
2
.
Fig
u
r
e
1
.
3
D
C
AD
m
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el
d
esig
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th
at
co
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f
: 1
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tan
k
b
o
d
y
; 2
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n
k
to
p
co
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r
; 3
)
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r
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wh
ee
l; 4
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ea
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d
9
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m
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Fig
u
r
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2
.
Kin
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atic
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el
o
f
AM
R
T
h
e
ce
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ter
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o
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tr
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v
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icle
is
wh
er
e
th
e
b
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y
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f
ix
ed
co
o
r
d
in
ate
s
y
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tem
is
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it
u
ated
[
2
5
]
.
T
h
e
h
ea
d
in
g
an
g
le
in
th
e
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l
o
b
al
co
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ate
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en
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wh
ile
th
e
o
r
ig
i
n
co
o
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d
in
ates a
r
e
x
t a
n
d
y
t.
T
h
e
tr
ea
d
wid
th
o
f
th
e
v
eh
icle
is
m
ar
k
ed
as b
,
wh
ile
th
e
h
alf
-
tr
ac
k
len
g
th
is
in
d
icate
d
as lt [
2
6
]
.
T
h
e
v
elo
cities
f
r
o
m
th
e
tr
ac
k
s
ac
t
as
co
n
tr
o
l
in
p
u
ts
f
o
r
th
e
v
eh
icle'
s
s
p
ee
d
a
n
d
s
teer
in
g
r
ate
in
a
k
in
e
m
atic
m
o
d
el.
T
h
e
tr
ac
k
s
also
p
r
o
d
u
ce
d
r
iv
i
n
g
f
o
r
ce
s
.
Similar
to
w
h
ee
led
v
eh
icles,
tr
ac
k
ed
v
eh
icles
also
u
n
d
e
r
g
o
s
lip
p
ag
e,
wh
ich
ca
n
b
e
m
o
d
elled
b
y
tak
in
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lo
n
g
it
u
d
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al
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lip
an
d
s
lip
an
g
le
in
t
o
ac
co
u
n
t
at
ea
ch
t
r
ac
k
[
2
7
]
.
T
h
er
e
ar
e
n
o
later
al
f
o
r
ce
s
wh
en
th
e
v
eh
icle'
s
m
o
tio
n
d
ir
ec
tio
n
is
in
lin
e
with
th
e
tr
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k
m
o
tio
n
d
ir
ec
tio
n
.
Ho
wev
er
,
wh
en
th
e
tr
av
el
d
ir
ec
ti
o
n
ch
an
g
es
as
a
r
esu
lt
o
f
o
b
s
tr
u
ctio
n
s
o
r
u
n
ev
en
[
2
8
]
.
T
ab
le
1
p
r
o
v
id
es
a
co
m
p
r
eh
e
n
s
iv
e
s
u
m
m
ar
y
o
f
th
e
k
i
n
em
atic
m
o
d
el.
T
ab
le
1
.
E
q
u
atio
n
d
ef
in
itio
n
N
o
me
n
c
l
a
t
u
r
e
O
t
:
t
a
n
k
O
r
i
g
i
n
l
:
h
a
l
f
-
t
r
a
c
k
l
e
n
g
t
h
S
sr
:
r
i
g
h
t
h
a
n
d
s
i
d
e
s
l
i
p
v
a
l
u
e
s
x
t
:
x
c
o
o
r
d
i
n
a
t
e
o
f
t
h
e
t
a
n
k
b
:
v
e
h
i
c
l
e
t
r
e
a
d
S
sl
:
l
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f
t
h
a
n
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i
d
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s
l
i
p
v
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l
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t
:
y
c
o
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d
i
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a
t
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f
t
h
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t
a
n
k
θ
t
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h
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a
d
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a
n
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l
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α
t
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si
d
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sl
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p
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V
l
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l
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a
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v
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f
t
w
h
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V
r
:
l
i
n
e
a
r
v
e
l
o
c
i
t
y
o
f
r
i
g
h
t
w
h
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l
ω
t
:
n
e
t
a
n
g
u
l
a
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v
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c
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t
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V
t
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y
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ss
:
l
a
t
h
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r
a
l
v
e
l
o
c
i
t
y
=
ta
n
−
1
(
)
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
37
,
No
.
3
,
Ma
r
ch
20
25
:
1
569
-
1
5
7
9
1572
=
1
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2
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(
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c
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(
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(
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1
2
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=
(
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(
1
3
)
T
h
e
later
al
f
o
r
ce
,
ac
tin
g
p
er
p
e
n
d
icu
lar
to
th
e
v
eh
icle'
s
o
r
ien
tatio
n
,
u
n
if
o
r
m
ly
a
f
f
ec
ts
th
e
v
e
h
icle.
T
h
e
s
id
e
s
lip
an
g
le
α
st
m
ea
s
u
r
es
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
v
e
h
icle's
h
ea
d
in
g
an
d
its
ac
tu
al
d
ir
ec
tio
n
(
1
)
,
d
e
f
in
ed
u
s
in
g
later
al
v
elo
city
V
ss
an
d
n
et
lo
n
g
itu
d
i
n
al
v
elo
city
V
t
at
th
e
ce
n
ter
o
f
g
r
av
ity
.
L
o
n
g
itu
d
in
al
s
lip
v
alu
es,
S
sl
f
o
r
th
e
lef
t
tr
ac
k
an
d
S
sr
f
o
r
th
e
r
ig
h
t
tr
ac
k
,
ar
e
d
ef
in
ed
s
ep
ar
ately
an
d
m
ay
n
o
t
alwa
y
s
co
r
r
elate
.
L
o
n
g
itu
d
in
al
s
lip
(
2
)
[
2
9
]
ca
n
s
o
m
etim
es
in
cr
ea
s
e
s
p
ee
d
,
s
u
ch
as
wh
en
clim
b
in
g
a
s
lo
p
e,
b
u
t
u
s
u
a
lly
h
in
d
er
s
f
o
r
war
d
m
o
tio
n
.
Fo
r
th
e
r
ig
h
t
tr
ac
k
,
l
o
n
g
itu
d
i
n
al
s
lip
is
d
ef
i
n
ed
u
s
in
g
th
e
lin
ea
r
s
p
ee
d
r
ω
r
,
d
r
iv
en
b
y
th
e
s
p
r
o
ck
et
r
o
tatin
g
at
an
g
u
lar
s
p
ee
d
ω
r
w
ith
a
r
ad
iu
s
r
,
an
d
n
et
f
o
r
war
d
s
p
ee
d
V
r
.
T
h
e
lef
t
tr
ac
k
's
s
lip
s
s
l
is
d
eter
m
in
ed
s
im
ilar
ly
[
1
7
]
.
T
h
e
k
in
em
atic
m
o
d
el
in
clu
d
es
α
st
,
S
sr
,
An
d
S
sl
.
T
o
s
im
p
lify
co
n
tr
o
ller
d
e
s
ig
n
,
in
(
3
)
-
(
5
)
ar
e
r
ef
o
r
m
u
lated
u
s
in
g
th
e
v
eh
ic
le's
lin
ea
r
an
d
an
g
u
lar
v
elo
c
ities
,
V
t
an
d
ω
t
,
in
s
tead
o
f
t
h
e
tr
ac
k
s
'
an
g
u
lar
v
elo
cities
ω
l
an
d
ω
r
.
T
h
e
f
in
al
k
in
em
atic
eq
u
atio
n
s
,
in
co
r
p
o
r
atin
g
tr
ac
k
s
lip
s
,
ar
e
p
r
esen
ted
with
r
elatio
n
s
h
ip
s
b
etwe
en
v
eh
icle
an
d
tr
ac
k
v
el
o
cities.
Veh
icle
s
lid
in
g
in
tr
o
d
u
ce
s
ter
m
s
V
dx
, V
dy
,
an
d
ω
d
[
3
0
]
.
Fig
u
r
e
3
illu
s
tr
ates
th
e
elec
t
r
o
n
ics
an
d
s
o
f
twar
e
d
esig
n
,
p
r
o
v
id
i
n
g
a
d
etailed
o
v
er
v
ie
w
o
f
th
e
s
y
s
tem
'
s
ar
ch
itectu
r
e
an
d
f
u
n
ctio
n
ality
.
Fig
u
r
e
3
(
a)
wir
i
n
g
d
iag
r
am
illu
s
tr
ates
h
o
w
d
if
f
er
en
t
elec
tr
ical
co
m
p
o
n
en
ts
th
at
ar
e
ess
en
tial
to
a
s
y
s
tem
p
er
h
ap
s
an
au
to
n
o
m
o
u
s
ca
r
o
r
m
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ar
y
r
o
b
o
t
b
e
in
teg
r
ated
(
1
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R
asp
b
er
r
y
Pi;
2
)
Ar
d
u
in
o
Me
g
a;
3
)
DC
m
o
t
o
r
d
r
iv
er
s
;
4
)
Step
d
o
wn
;
5
)
Ub
lo
x
M8
N
G
PS
;
6
)
C
o
m
p
ass
;
7
)
MPU6
0
5
0
;
8
)
B
lu
eto
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th
;
9
)
Mic
r
o
SD
ca
r
d
m
o
d
u
le
;
1
0
)
YDL
id
ar
X4
; 1
1
)
DC
m
o
to
r
s
;
an
d
1
2
)
p
o
wer
s
u
p
p
ly
)
.
T
h
ese
p
ar
ts
in
clu
d
e
t
h
e
Ar
d
u
in
o
Me
g
a
a
n
d
R
asp
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er
r
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Pi
m
icr
o
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n
tr
o
ller
b
o
ar
d
s
,
wh
ic
h
h
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d
le
lo
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lev
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co
n
tr
o
l
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h
ig
h
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lev
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p
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s
s
in
g
,
r
esp
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.
DC
m
o
to
r
d
r
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er
s
co
n
tr
o
l
th
e
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ir
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tio
n
a
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d
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p
ee
d
o
f
th
e
DC
m
o
to
r
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,
an
d
a
s
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d
o
wn
co
n
v
er
ter
m
ain
tain
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ap
p
r
o
p
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e
v
o
ltag
e
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els
ac
r
o
s
s
th
e
s
y
s
tem
.
W
h
ile
th
e
MPU6
0
5
0
ac
ce
ler
o
m
eter
an
d
g
y
r
o
s
co
p
e
p
r
o
v
id
e
m
o
tio
n
s
e
n
s
in
g
ca
p
ab
ilit
ies,
m
o
d
u
les
lik
e
th
e
Ub
lo
x
M8
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GPS
an
d
co
m
p
ass
o
f
f
er
p
r
ec
is
e
p
o
s
itio
n
in
g
a
n
d
o
r
ien
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n
d
ata.
W
ir
eless
co
m
m
u
n
icat
io
n
is
en
a
b
led
v
ia
B
lu
eto
o
th
,
an
d
d
ata
s
to
r
a
g
e
is
m
ad
e
p
o
s
s
ib
le
b
y
a
Mic
r
o
SD
ca
r
d
m
o
d
u
le.
T
h
e
YDL
i
d
ar
X
4
L
id
ar
s
en
s
o
r
h
elp
s
in
m
ap
p
in
g
a
n
d
o
b
s
tacle
d
etec
tio
n
.
A
p
o
wer
s
u
p
p
l
y
u
n
it
p
r
o
v
id
es
p
o
wer
to
t
h
e
s
y
s
tem
,
g
u
ar
an
teein
g
th
at
ev
er
y
p
ar
t
o
p
er
ates
as
it
s
h
o
u
ld
.
T
h
ese
elem
en
ts
wo
r
k
to
g
et
h
er
to
cr
ea
te
a
u
n
if
ied
s
y
s
tem
th
at
is
in
ten
d
ed
to
f
u
n
ctio
n
well
in
a
v
ar
iety
o
f
n
av
ig
atio
n
,
c
o
n
tr
o
l,
a
n
d
o
p
er
ati
o
n
s
ettin
g
s
.
T
h
e
s
y
s
tem
f
lo
wch
ar
t
in
Fig
u
r
e
3
(
b
)
s
h
o
ws
th
e
s
tep
s
in
v
o
l
v
ed
in
o
p
er
atin
g
a
m
o
b
ile
r
o
b
o
t
th
at
ca
n
n
av
ig
ate
way
p
o
i
n
ts
an
d
av
o
i
d
o
b
s
tacle
s
.
First,
th
e
s
y
s
tem
s
ets
u
p
n
ec
ess
ar
y
p
ar
ts
s
u
ch
th
e
GPS,
co
m
p
ass
,
L
id
ar
,
an
d
in
e
r
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
)
.
T
h
e
f
ir
s
t
n
a
v
ig
atio
n
al
way
p
o
in
t
is
th
en
r
et
r
iev
ed
.
T
h
e
s
y
s
tem
th
en
d
eter
m
in
es
wh
eth
e
r
th
er
e
ar
e
an
y
way
p
o
in
ts
lef
t
to
r
o
u
t
e
to
.
I
n
th
e
e
v
en
t
th
at
way
p
o
i
n
ts
ar
e
s
till
p
r
esen
t,
th
e
r
o
b
o
t'
s
cu
r
r
en
t
p
o
s
itio
n
a
n
d
o
r
ie
n
tatio
n
ar
e
ascer
tain
ed
b
y
th
e
s
y
s
tem
u
s
in
g
GPS
d
a
ta
an
d
th
e
c
o
m
p
ass
d
ir
ec
tio
n
f
ilter
ed
b
y
Kalm
an
Fil
ter
.
L
id
ar
d
ata
is
g
ath
er
e
d
i
n
tan
d
em
t
o
id
e
n
tify
an
y
o
b
s
tr
u
c
tio
n
s
in
t
h
e
r
o
b
o
t'
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
r
o
vin
g
u
n
ma
n
n
e
d
a
r
mo
u
r
e
d
mo
b
ile
r
o
b
o
t
n
a
vig
a
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n
a
cc
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cy
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a
lma
n
filt
er
(
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n
ya
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o
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a
n
g
)
1573
p
ath
.
T
h
e
s
y
s
tem
s
tar
ts
o
b
s
tacle
av
o
id
an
ce
n
av
ig
atio
n
wh
en
it
d
etec
ts
an
o
b
s
tr
u
ctio
n
,
ch
a
n
g
in
g
th
e
d
ir
ec
tio
n
o
f
n
av
ig
atio
n
ac
co
r
d
in
g
to
th
e
co
m
p
ass
h
ea
d
in
g
.
T
h
e
s
y
s
tem
ch
ec
k
s
to
s
ee
if
th
e
cu
r
r
en
t
way
p
o
in
t
h
as
b
ee
n
r
ea
ch
ed
if
n
o
o
b
s
tacle
s
ar
e
f
o
u
n
d
.
Af
ter
r
ea
c
h
in
g
t
h
e
wa
y
p
o
in
t,
t
h
e
alg
o
r
ith
m
lo
o
k
s
f
o
r
o
th
e
r
o
n
es.
T
h
e
p
r
o
ce
d
u
r
e
r
e
p
ea
ts
,
r
etr
iev
in
g
th
e
n
ex
t
way
p
o
in
t,
if
th
e
r
e
ar
e
an
y
m
o
r
e
way
p
o
in
ts
.
Af
ter
n
av
ig
at
in
g
all
way
p
o
in
ts
,
th
e
s
y
s
tem
s
h
u
ts
o
f
f
th
e
m
o
t
o
r
s
an
d
en
d
s
th
e
p
r
o
ce
s
s
.
T
h
e
s
y
s
tem
co
n
tin
u
o
u
s
ly
ca
lcu
lates
th
e
n
av
ig
atio
n
v
ec
to
r
d
u
r
in
g
th
e
p
r
o
ce
d
u
r
e,
d
ir
ec
tin
g
th
e
r
o
b
o
t'
s
m
o
v
em
en
t
in
ac
co
r
d
a
n
ce
with
th
e
in
ten
d
e
d
p
at
h
d
eter
m
in
ed
b
y
th
e
wa
y
p
o
in
ts
a
n
d
o
b
s
t
ac
le
av
o
id
an
ce
f
ac
to
r
s
.
(
a)
(
b
)
Fig
u
r
e
3
.
E
lectr
o
n
ics an
d
s
o
f
twar
e
d
esig
n
(
a)
wir
i
n
g
d
ia
g
r
a
m
an
d
(
b
)
f
l
o
wch
ar
t sy
s
tem
2
.
3
.
E
v
a
lua
t
i
o
n
Fig
u
r
e
4
p
r
esen
ts
th
e
ex
p
er
im
en
tal
co
o
r
d
i
n
ates
an
d
th
e
ir
co
r
r
esp
o
n
d
in
g
d
etails,
p
r
o
v
id
in
g
a
co
m
p
r
eh
e
n
s
iv
e
o
v
er
v
iew
o
f
t
h
e
s
etu
p
.
Field
test
in
g
is
d
o
n
e
to
ass
ess
th
is
m
o
b
ile
r
o
b
o
t'
s
r
ea
d
i
n
ess
at
th
e
co
o
r
d
in
ates 1
4
.
0
3
4
5
9
3
6
,
1
0
0
.
7
3
3
3
8
3
6
,
as sh
o
wn
in
Fig
u
r
e
4
(
a)
.
T
h
e
way
p
o
in
t p
ath
s
in
th
e
t
esti
n
g
s
ce
n
ar
io
ar
e
ca
teg
o
r
ized
in
to
th
r
ee
s
h
ap
es:
tr
ian
g
le,
s
q
u
ar
e,
an
d
r
ec
tan
g
le.
T
h
e
tar
g
et
p
ath
way
s
in
Fi
g
u
r
e
s
4
(
b
)
to
4
(
d
)
s
h
o
w
s
ev
er
al
way
p
o
in
ts
,
ea
c
h
o
f
wh
ic
h
r
ep
r
esen
ts
a
d
if
f
e
r
en
t
tr
ajec
to
r
y
t
h
at
th
e
r
o
b
o
t
m
u
s
t
f
o
llo
w.
T
h
ese
f
ield
test
s
ev
alu
ate
th
e
r
o
b
o
t's
ca
p
ab
ilit
ies
an
d
p
er
f
o
r
m
a
n
ce
in
v
ar
io
u
s
p
ath
co
n
f
ig
u
r
ati
o
n
s
,
o
f
f
er
in
g
im
p
o
r
tan
t
in
f
o
r
m
atio
n
ab
o
u
t
its
o
p
e
r
atio
n
al
ef
f
icac
y
an
d
p
o
s
s
ib
le
ar
e
as
f
o
r
d
e
v
elo
p
m
e
n
t
.
T
h
e
d
ata
f
r
o
m
th
e
c
o
m
p
ass
s
en
s
o
r
,
GPS,
an
d
Kalm
an
f
ilte
r
r
esu
lts
ar
e
th
en
r
ec
o
r
d
e
d
.
T
h
ese
r
esu
lts
ar
e
th
e
n
e
v
alu
ated
u
s
in
g
f
o
r
m
u
la
r
o
o
t
m
ea
n
s
q
u
a
r
e
p
e
r
ce
n
tag
e
er
r
o
r
(
R
MSPE
)
(
1
4
)
to
test
th
e
a
cc
u
r
ac
y
le
v
el
o
f
th
e
s
en
s
o
r
s
an
d
Kalm
an
Fil
ter
co
m
p
ar
ed
to
th
e
g
iv
en
tar
g
et
way
p
o
in
ts
[
3
1
]
.
=
√
1
∑
(
−
̂
)
2
=
1
(
)
×
100
(
1
4
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
37
,
No
.
3
,
Ma
r
ch
20
25
:
1
569
-
1
5
7
9
1574
(
a
)
(
b
)
(
c
)
(
d
)
Fig
u
r
e
4
.
T
h
e
ex
p
er
im
en
tal
co
o
r
d
in
ates a
n
d
s
ce
n
ar
io
f
o
r
:
(
a)
lo
ca
tio
n
(
b
)
r
ec
tan
g
le
,
(
c)
s
q
u
a
r
e,
an
d
(
d
)
tr
ian
g
le
way
p
o
i
n
ts
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
M
ec
ha
nica
l
a
nd
elec
t
ro
nics
a
s
s
em
bly
T
h
is
s
ec
tio
n
d
is
cu
s
s
es
th
e
m
e
ch
an
ical
d
esig
n
ass
em
b
ly
o
f
t
h
e
Ar
m
o
u
r
ed
m
o
b
ile
r
o
b
o
t.
T
h
e
cr
ea
tio
n
o
f
th
is
r
o
b
o
t is b
ased
o
n
p
r
e
-
m
ad
e
C
AD
d
esig
n
s
.
Fig
u
r
e
5
p
r
esen
ts
th
e
o
u
tlin
e
o
f
th
e
h
ar
d
w
ar
e/m
ec
h
an
ics th
at
h
av
e
b
ee
n
m
ad
e.
Fig
u
r
es
5
(
a)
an
d
5
(
b
)
s
h
o
w
th
e
s
id
e
an
d
to
p
v
iews
o
f
th
e
r
o
b
o
t.
I
t
ca
n
b
e
s
ee
n
th
at
th
e
ta
n
k
b
o
d
y
,
tan
k
to
p
c
o
v
er
,
b
ea
r
in
g
wh
ee
l,
r
ea
r
d
r
iv
in
g
wh
ee
l,
co
i
l
s
p
r
in
g
,
s
tr
u
t,
lo
wer
r
o
ll,
m
et
al
tr
ac
k
,
an
d
m
etal
ch
ain
s
ar
e
alr
ea
d
y
in
s
talled
o
n
th
e
two
r
ig
h
t
an
d
lef
t
s
id
es
o
f
th
e
r
o
b
o
t.
Fig
u
r
es
5
(
c)
a
n
d
5
(
d
)
p
r
esen
t
a
s
er
ies
o
f
elec
tr
o
n
ics
co
n
n
ec
ted
to
ea
ch
o
th
er
to
cr
ea
te
th
e
n
av
ig
at
io
n
co
n
tr
o
l
f
o
r
th
e
Ar
m
o
u
r
ed
m
o
b
ile
r
o
b
o
t
.
T
h
e
DC
m
o
to
r
is
lo
ca
ted
at
th
e
b
ac
k
o
f
th
e
r
o
b
o
t a
s
th
e
p
r
im
e
m
o
v
er
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
5
.
AM
R
im
p
lem
en
tatio
n
in
th
e
:
(
a
)
s
id
e
v
iew,
(
b
)
to
p
v
iew,
(
c)
elec
tr
o
n
ics co
m
p
o
n
e
n
t,
an
d
(
d
)
DC
m
o
to
r
s
in
s
tallatio
n
3.
2
.
So
f
t
wa
re
deplo
y
m
ent
a
nd
f
ield t
est
T
h
e
k
in
em
atic
m
o
d
el
o
f
th
e
AM
R
with
tr
ac
k
ed
wh
ee
ls
wa
s
th
en
v
alid
ated
b
y
a
p
p
ly
in
g
th
e
f
o
r
m
u
la
to
th
e
s
im
u
latio
n
.
T
h
e
s
im
u
lat
io
n
was
ca
r
r
ied
o
u
t
b
y
f
o
llo
wi
n
g
th
r
ee
s
ce
n
ar
io
s
,
n
a
m
ely
wa
y
p
o
in
ts
in
th
e
f
o
r
m
o
f
tr
ian
g
les,
s
q
u
a
r
es,
an
d
r
e
ctan
g
les.
T
h
ese
s
ce
n
ar
io
s
co
n
s
is
t
o
f
g
eo
m
etr
ic
s
h
ap
es
d
ef
in
ed
b
y
s
ets
o
f
way
p
o
in
ts
an
d
c
o
r
r
esp
o
n
d
in
g
co
m
p
letio
n
tim
es.
T
h
e
r
esu
lts
o
f
th
e
s
im
u
latio
n
ar
e
p
r
es
en
ted
in
Fig
u
r
e
6
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
r
o
vin
g
u
n
ma
n
n
e
d
a
r
mo
u
r
e
d
mo
b
ile
r
o
b
o
t
n
a
vig
a
tio
n
a
cc
u
r
a
cy
u
s
in
g
K
a
lma
n
filt
er
(
Ta
n
ya
P
o
r
a
n
g
)
1575
wh
er
e
Fig
u
r
e
6
(
a)
r
e
p
r
esen
ts
a
s
im
u
latio
n
with
tr
ian
g
u
lar
way
p
o
in
ts
,
Fig
u
r
e
6
(
b
)
with
s
q
u
ar
e
way
p
o
in
ts
,
an
d
Fig
u
r
e
6
(
c)
with
r
ec
tan
g
u
l
a
r
way
p
o
in
ts
.
I
n
ad
d
itio
n
to
tr
ac
k
in
g
an
d
f
o
llo
win
g
th
e
g
iv
en
p
o
in
ts
,
th
e
s
im
u
latio
n
also
in
clu
d
ed
an
o
b
s
tacle
in
t
h
e
f
o
r
m
o
f
a
s
q
u
ar
e
-
s
h
ap
e
d
p
ix
el.
B
y
in
co
r
p
o
r
atin
g
a
lid
a
r
s
en
s
o
r
,
th
e
r
o
b
o
t
m
an
ag
ed
t
o
n
a
v
ig
ate
ev
asiv
el
y
an
d
m
ain
tain
ef
f
ec
tiv
e
tr
ac
k
in
g
in
all
th
r
ee
s
ce
n
ar
io
s
.
T
h
e
tr
ian
g
u
lar
s
ce
n
ar
io
is
d
ef
in
ed
b
y
th
e
way
p
o
i
n
ts
[
1
0
5
;
3
0
5
;
2
0
1
7
.
5
;
1
0
5
]
a
n
d
tak
es
7
0
s
ec
o
n
d
s
to
c
o
m
p
lete.
I
n
th
e
s
q
u
ar
e
s
ce
n
ar
io
,
th
e
way
p
o
in
ts
[
1
3
5
;
2
3
5
;
2
3
1
5
;
1
3
1
5
;
1
3
5
]
o
u
t
lin
e
th
e
s
h
ap
e,
with
a
co
m
p
letio
n
tim
e
s
et
at
52
s
ec
o
n
d
s
.
T
h
e
r
ec
tan
g
le
s
ce
n
ar
io
,
d
ef
in
ed
b
y
way
p
o
in
ts
[
1
0
5
;
2
5
5
;
2
5
1
5
;
1
0
1
5
;
1
0
5
]
,
r
eq
u
ir
es
6
6
s
ec
o
n
d
s
to
co
m
p
lete.
T
h
ese
s
ce
n
ar
i
o
s
lik
ely
s
er
v
e
as
n
av
ig
atio
n
o
r
m
o
v
em
en
t
ch
alle
n
g
es
w
h
er
e
p
a
r
ticip
an
ts
o
r
s
y
s
tem
s
tr
av
er
s
e
th
e
s
p
ec
if
ied
way
p
o
in
ts
wit
h
in
th
e
allo
ca
ted
tim
e
f
r
am
es
.
(
a)
(
b
)
(
c)
Fig
u
r
e
6
.
W
ay
p
o
in
t
s
im
u
latio
n
:
(
a)
tr
ian
g
le
,
(
b
)
s
q
u
ar
e,
a
n
d
(
c)
r
ec
tan
g
le
Af
ter
th
e
s
im
u
latio
n
is
co
m
p
l
ete,
th
e
way
p
o
in
t
alg
o
r
ith
m
i
s
em
b
ed
d
ed
in
th
e
AM
R
.
T
h
e
Fig
u
r
e
7
s
h
o
ws
ex
p
er
im
en
tal
r
esu
lts
s
h
o
wca
s
in
g
o
b
s
tacle
av
o
id
an
c
e
tech
n
iq
u
es
u
tili
zin
g
L
id
ar
r
ea
d
in
g
s
.
I
t
p
r
esen
ts
v
is
u
aliza
tio
n
s
f
r
o
m
th
r
ee
d
is
tin
ct
s
ce
n
ar
io
s
:
in
Fig
u
r
e
7
(
a)
wir
ed
o
b
s
tacle
d
etec
tio
n
,
lik
e
ly
u
tili
zin
g
s
en
s
o
r
s
co
n
n
ec
ted
v
ia
wir
es;
Fig
u
r
e
7
(
b
)
in
d
o
o
r
L
id
ar
r
ea
d
in
g
v
is
u
aliza
tio
n
,
d
em
o
n
s
tr
atin
g
o
b
s
tacle
p
er
ce
p
tio
n
with
i
n
in
d
o
o
r
e
n
v
ir
o
n
m
en
ts
;
an
d
Fig
u
r
e
7
(
c)
o
u
td
o
o
r
L
id
ar
r
ea
d
in
g
v
is
u
aliza
tio
n
,
illu
s
tr
atin
g
o
b
s
tacle
in
ter
p
r
etatio
n
in
o
u
td
o
o
r
s
ettin
g
s
.
As
a
r
esu
lt
o
f
f
ield
test
in
g
,
co
m
p
ass
an
d
GPS
d
ata
wer
e
r
ec
o
r
d
ed
a
n
d
co
m
p
a
r
ed
b
et
wee
n
tar
g
et
way
p
o
in
t
v
al
u
es,
s
en
s
o
r
v
al
u
es,
an
d
s
en
s
o
r
v
alu
es
to
w
h
ich
th
e
Kalm
an
f
ilter
h
a
d
b
ee
n
ap
p
lied
.
T
h
e
ex
p
er
im
en
tal
r
esu
lts
c
o
m
p
ar
in
g
v
ar
io
u
s
s
ce
n
ar
io
s
u
s
in
g
GPS
s
en
s
o
r
r
ea
d
in
g
s
an
d
Kalm
an
-
f
ilter
ed
GPS
d
ata,
p
r
esen
ted
th
r
o
u
g
h
v
is
u
aliza
tio
n
s
as
s
h
o
wn
in
Fig
u
r
e
8
.
I
t
o
u
tlin
es
co
m
p
ar
is
o
n
s
b
etwe
en
r
aw
GPS
s
en
s
o
r
r
ea
d
in
g
s
an
d
Kalm
a
n
-
f
ilter
ed
GPS
d
ata
f
o
r
s
q
u
ar
e,
r
ec
tan
g
u
lar
,
an
d
tr
ia
n
g
u
lar
p
ath
s
.
Sp
ec
if
ically
,
it
s
h
o
ws
th
e
Fig
u
r
e
8
(
a)
s
q
u
ar
ed
GPS
s
en
s
o
r
r
ea
d
in
g
,
Fig
u
r
e
8
(
b
)
s
q
u
ar
e
d
GPS
Kalm
an
f
il
ter
ed
,
Fig
u
r
e
8
(
c
)
r
ec
tan
g
u
lar
GPS
s
en
s
o
r
r
ea
d
i
n
g
,
Fig
u
r
e
8
(
d
)
r
ec
ta
n
g
u
lar
GPS
Kalm
an
f
ilter
ed
,
Fig
u
r
e
8
(
e)
tr
ian
g
u
lar
GPS
s
en
s
o
r
r
ea
d
in
g
,
an
d
Fig
u
r
e
8
(
f
)
tr
ian
g
u
lar
GPS
Kalm
an
f
ilter
ed
.
I
n
ea
c
h
s
ce
n
ar
io
,
two
o
b
s
t
ac
les
ar
e
p
r
o
v
id
e
d
,
an
d
th
e
r
o
b
o
t
is
ab
le
to
n
a
v
i
g
ate,
av
o
i
d
in
g
an
d
f
o
llo
win
g
th
e
g
i
v
en
way
p
o
in
ts
.
Me
an
wh
ile,
ex
p
er
im
e
n
tal
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
52
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
37
,
No
.
3
,
Ma
r
ch
20
25
:
1
569
-
1
5
7
9
1576
r
esu
lts
ar
e
s
h
o
wn
in
Fig
u
r
e
9
,
wh
ich
c
o
m
p
ar
es
c
o
m
p
as
s
s
en
s
o
r
r
ea
d
in
g
s
in
th
e
s
q
u
ar
e
in
Fig
u
r
e
9
(
a)
,
r
ec
tan
g
le
in
Fig
u
r
e
9
(
b
)
,
a
n
d
t
r
ian
g
le
in
Fig
u
r
e
9
(
c
)
s
ce
n
ar
i
o
s
b
ef
o
r
e
a
n
d
af
te
r
ap
p
l
y
in
g
a
Kalm
an
f
ilter
.
T
h
e
co
m
p
ar
is
o
n
p
r
o
v
id
es
in
f
o
r
m
a
tio
n
ab
o
u
t
h
o
w
well
th
e
f
ilte
r
wo
r
k
s
to
in
cr
ea
s
e
ac
c
u
r
ac
y
an
d
d
ep
en
d
ab
ilit
y
.
Th
ese
s
itu
atio
n
s
,
wh
ich
ar
e
li
k
ely
to
v
ar
y
in
co
m
p
lex
ity
,
e
n
ab
le
ev
alu
atio
n
o
f
th
e
f
ilter
'
s
ca
p
ac
ity
to
r
ed
u
ce
n
o
is
e
an
d
m
is
tak
es in
s
en
s
o
r
d
ata,
im
p
r
o
v
i
n
g
th
e
r
o
b
o
t'
s
n
av
ig
atio
n
ac
cu
r
ac
y
.
(
a)
(
b
)
(
c)
Fig
u
r
e
7
.
Ob
s
tacle
av
o
id
an
ce
u
s
in
g
lid
ar
:
(
a)
wir
ed
o
b
s
tacle
,
(
b
)
in
d
o
o
r
,
an
d
(
c)
o
u
td
o
o
r
v
is
u
aliza
tio
n
(
a)
(
b
)
(
c
)
(
d
)
(
e
)
(f)
F
i
g
u
r
e
8
.
E
x
p
e
r
i
m
e
n
t
a
l
r
es
u
l
ts
v
i
s
u
a
l
is
a
ti
o
n
o
f
a
l
l
s
c
e
n
a
r
i
o
s
c
o
m
p
a
r
i
n
g
:
(
a
)
s
q
u
a
r
e
d
G
PS
s
e
n
s
o
r
r
e
a
d
i
n
g
,
(
b
)
s
q
u
ar
e
d
GPS k
alm
an
f
iter
e
d
,
(
c)
r
e
ctan
g
le
GPS s
en
s
o
r
r
e
ad
in
g
,
(
d
)
r
ec
ta
n
g
le
GPS k
alm
an
f
iter
ed
,
(
e)
tr
ian
g
le
GPS s
en
s
o
r
r
ea
d
i
n
g
,
an
d
(
f
)
tr
ia
n
g
le
GPS k
alm
an
f
iter
ed
T
ab
le
2
p
r
esen
ts
R
MSPE
v
alu
es
f
o
r
GPS
s
en
s
o
r
r
ea
d
in
g
s
a
n
d
Kalm
an
f
ilter
ed
GPS
d
ata,
as
well
as
Kalm
an
f
ilter
ed
co
m
p
ass
d
ata
,
ac
r
o
s
s
d
if
f
er
en
t
g
e
o
m
etr
ic
s
ce
n
ar
io
s
.
Fo
r
th
e
s
q
u
ar
e
s
ce
n
ar
io
,
th
e
GPS
s
en
s
o
r
R
MSPE
i
s
1
.
0
2
5
5
9
,
wh
ile
th
e
GPS
Kalm
an
R
MS
PE
is
s
lig
h
tly
h
ig
h
er
at
1
.
3
5
9
2
2
,
in
d
icatin
g
a
s
lig
h
t
in
cr
ea
s
e
in
er
r
o
r
af
ter
Kalm
an
f
ilter
in
g
.
Ho
wev
er
,
th
e
co
m
p
ass
Kalm
an
R
MSPE
is
co
n
s
id
er
ab
ly
h
ig
h
er
at
8
.
2
6
7
0
8
,
s
u
g
g
esti
n
g
s
ig
n
if
ican
t
er
r
o
r
in
co
m
p
ass
d
ata
af
ter
Kalm
an
f
ilter
in
g
.
I
n
t
h
e
r
ec
tan
g
le
s
ce
n
ar
io
,
b
o
th
G
PS
s
en
s
o
r
an
d
Kalm
an
R
MSPE
v
alu
es
ar
e
h
ig
h
er
co
m
p
ar
e
d
to
th
e
s
q
u
ar
e
s
ce
n
ar
io
,
with
GPS
s
en
s
o
r
R
MSPE
at
2
.
9
1
3
2
9
an
d
GPS
Kalm
an
R
MSPE
at
2
.
6
6
2
4
8
.
T
h
e
co
m
p
ass
Kalm
an
R
MSPE
d
ec
r
ea
s
es
n
o
tab
ly
to
1
.
8
2
3
8
1
in
th
is
s
ce
n
ar
io
.
Fin
ally
,
in
t
h
e
tr
ian
g
le
s
ce
n
ar
i
o
,
th
e
G
P
S
s
en
s
o
r
R
MSPE
i
s
h
ig
h
est
at
8
.
5
4
0
6
5
,
b
u
t
it
d
ec
r
ea
s
es
s
ig
n
if
ican
tly
t
o
1
.
0
3
1
7
0
af
ter
Kalm
an
f
ilter
in
g
,
in
d
icatin
g
s
u
b
s
tan
tial
e
r
r
o
r
r
e
d
u
ctio
n
.
T
h
e
co
m
p
ass
Kalm
an
R
MSPE
f
o
r
th
e
tr
ian
g
le
s
ce
n
ar
io
is
4
.
9
4
3
4
5
,
in
d
icatin
g
m
o
d
e
r
ate
er
r
o
r
r
e
d
u
ctio
n
co
m
p
a
r
ed
to
th
e
GPS
Kalm
an
R
MS
PE.
Ov
er
all,
th
ese
r
esu
lts
s
u
g
g
est
v
ar
y
in
g
lev
els
o
f
er
r
o
r
r
e
d
u
ctio
n
ac
h
iev
ed
th
r
o
u
g
h
Kalm
an
f
ilter
in
g
ac
r
o
s
s
d
if
f
er
en
t
g
eo
m
etr
ic
s
ce
n
ar
i
o
s
,
with
n
o
tab
le
im
p
r
o
v
em
e
n
ts
o
b
s
er
v
ed
p
ar
ticu
la
r
ly
in
GPS
d
ata
ac
cu
r
ac
y
.
T
h
e
r
esu
l
ts
em
p
h
asis
e
th
e
a
d
v
a
n
tag
es
o
f
th
e
s
u
g
g
ested
s
y
s
tem
,
in
clu
d
in
g
its
ca
p
ac
ity
to
en
s
u
r
e
p
r
ec
is
e
n
av
ig
atio
n
e
v
en
wh
en
im
p
e
d
im
en
ts
ar
e
p
r
esen
t.
Nev
er
th
eless
,
th
e
p
r
e
s
en
ce
o
f
elev
ated
R
MSPE
v
alu
es
in
s
p
ec
if
ic
ca
s
es
in
d
icate
s
th
e
n
ee
d
f
o
r
e
n
h
an
ce
m
en
ts
,
s
u
ch
as
th
e
o
p
ti
m
is
atio
n
o
f
s
en
s
o
r
f
u
s
io
n
tech
n
iq
u
es
an
d
th
e
f
in
e
-
tu
n
in
g
o
f
th
e
Kalm
an
f
ilter
p
ar
am
eter
s
.
T
h
e
s
tu
d
y
'
s
r
esu
lts
alig
n
with
p
r
io
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2
5
0
2
-
4
7
52
I
mp
r
o
vin
g
u
n
ma
n
n
e
d
a
r
mo
u
r
e
d
mo
b
ile
r
o
b
o
t
n
a
vig
a
tio
n
a
cc
u
r
a
cy
u
s
in
g
K
a
lma
n
filt
er
(
Ta
n
ya
P
o
r
a
n
g
)
1577
r
esear
ch
b
u
t
p
r
o
v
id
e
n
o
tab
le
im
p
r
o
v
em
en
ts
in
p
r
ac
tical
u
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