Relative positioning system

[antarikshnarain]

Pseudo GPS

As the moon currently does not have satellites to give GPS positions, we will be developing relative positioning system.

Design

The program takes the IMU sensor data (acceleration [x,y,z] and principal axis) and uses it to compute the relative position and orientation of the system.

Function Signature

1. PseudoGPS (offsetX, offsetY, offsetZ)
   • constructor to initialize the class.
   • params takes offset value of position in each direction
   • return class object
2. Update (sensor_acceleration, sensor_principal_axis)
   • function to compute the relative position, based on given data.
   • assumption: data is filtered
   • params takes the acceleration and principal axis data coming from the IMU sensor
   • return vector of position values [x,y,z] and orientation [roll, pitch, yaw]

Reference

Using inertial sensors for relative positioning and orientation

Principal axis - Roll, Pitch and Yaw

[antarikshnarain]

@Tekunalogy Please review the paper attached. Once you are done we can discuss the implementation.