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cs:testing:start [2019/04/23 13:25] Andrew Rink |
cs:testing:start [2019/04/23 13:28] (current) Andrew Rink [Localization] |
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| The general description of the localization system is that it takes data from the depth sensors and hydrophones to triangulate the position of the pinger in the water, then takes additional data from the IMU to help determine positioning changes in the water. An important aspect of the system is to maintain accuracy as the submarine's position changes, which is what several tests focus on. At the time of the tests' creation the physical submarine was inoperable, so many of the tests utilize the simulator to make changes to the submarine's position underwater. | The general description of the localization system is that it takes data from the depth sensors and hydrophones to triangulate the position of the pinger in the water, then takes additional data from the IMU to help determine positioning changes in the water. An important aspect of the system is to maintain accuracy as the submarine's position changes, which is what several tests focus on. At the time of the tests' creation the physical submarine was inoperable, so many of the tests utilize the simulator to make changes to the submarine's position underwater. | ||
| + | One of the most useful findings uncovered by the tests written were inconsistencies in how the localization system recovered its position when the submarine 'jumped' underwater to a new position. The localization system, in theory, is supposed to check extraneous points outside the point cloud to ensure possible recovery in the event that it was taken suddenly off course. However, we found that the system failed to do so, and instead began an accelerated drift off the map from which it couldn't recover. This issue has been noted, and will be addressed by the club in future work. | ||
