Characterization of Dynamic Influence on RTK-GNSS/IMU-Based Positioning Using an Artificial Motion Platform

Institut

Lehrstuhl für Agrarmechatronik (WZW)

Typ

Masterarbeit /

Inhalt

experimentell / theoretisch / konstruktiv /  

Beschreibung

Off-road vehicles such as agricultural machines (e.g., tractors, combine harvesters, and sprayers) operate in unstructured and often featureless environments. Unlike on-road applications, these machines cannot rely solely on visual sensors for localization. Instead, Real-Time Kinematic (RTK) GNSS positioning, in combination with an Inertial Measurement Unit (IMU), represents the state-of-the-art solution. This setup enables centimeter-level position accuracy and reliable orientation estimation.

However, the estimation process faces challenges in low-dynamic scenarios—common in agricultural applications—where sensor fusion performance may degrade. To address these limitations, the chair has developed an artificial motion platform designed to simulate controlled dynamic conditions.

Objective of the Thesis:
This thesis aims to utilize the artificial motion platform to systematically characterize the influence of motion dynamics on the performance of RTK-GNSS/IMU-based positioning. The goal is to investigate potential improvements in estimation accuracy through the introduction of artificial motion.

Möglicher Beginn

sofort

Kontakt

Marcel Moll
marcel.molltum.de

Ausschreibung