Structure of the Information-Measuring Complex for Determining the Mutual Position of the Master and Slave Vehicles and Its Calibration

The information-measuring complex for determining the mutual position of master and slave vehicles is necessary functioning a robotic vehicle as part an autonomous convoy. based on spatial array ultrasonic receivers receiving periodically emitted signals by active beacon with built-in receiver global navigation satellite positioning system. structure designed to provide free connection additional modules wave receivers, included in placed vehicle, without significant changes work whole. number required depends design features well viewing angle complex. An beacon, which portable device, attached its master, can be another being member convoy, or human operator. coordinates each local coordinate system are needed calculate trajectory Kalman filter smoothing according Rauch-Thung-Strubel algorithm. To automatize measurement process, procedure calibrating has been developed. A distinctive feature calibration obtaining automatic mode using reference rangefinder mounted vehicle. In course experimental studies, it was found that allowed reduce systematic component error assessing up three times.