Terrestrial Paths Estimation by using Satellite Tracking with lost data
Universidad Autónoma de Zacatecas, Claudia Angelica Rivera-Romero, Ro. Olivera-Reyna, Universidad Autónoma de Zacatecas, Osbaldo Vite-Chávez, Universidad Autónoma de Zacatecas, J. Flores–Troncoso, Universidad Autónoma de Zacatecas, J. U. Muñoz-Minjares, Universidad Autónoma de Zacatecas · Memorias del Congreso Nacional de Control Automático · 2022
Autonomous vehicles navigation requires previously plotted paths to avoid deviations or collisions with other objects. One of the main problems is the loss of location data when specific paths are designed due to disturbances in the acquisition devices. The most used technology for geo-position registration is the Global Positioning System (GPS) due to its great precision and low cost. However, the advantages of this technique for designing navigation paths are overshadowed if there is a significant loss of information. In this work, it is proposed to use a modified Iterative Unbiased Finite Impulse Response (I-UFIR) algorithm to estimate the GPS data lost. The satellite measurements are obtained with the G28U7FTTL receptor, and the lost measurements are estimated in different sections of a specific path in an urban environment. The results are corroborated by using a real map and the mean square error based on a referenced path.