Diseño, implementación y validación de un algoritmo de geolocalización de alta precisión para un vehículo de navegación terrestre tipo Rover de la Universidad de Ibagué
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This thesis shows the design, implementation and validation of two high precision geolocation algorithms for a land vehicle of the University of Ibagué. This rover is designed to be used in projects related to precision agriculture, a line of research in which the D + TEC group is currently working. The document illustrates two alternatives that were developed to achieve the implementation of a position and orientation estimator for the aforementioned rover. The first alternative consisted of the design of a two-stage algorithm that integrates a Kalman filter assembled with an adaptive Kalman filter in the first stage and allows merging the data obtained from an Inercial Measurement Unit housed in a navigation card Navio2 with encoder data installed on the axes of the rover wheels. The output of this stage feeds the second stage of the algorithm, developed through a Kalman filter integrating the data of a GPS and magnetometer installed also in the rover. The second alternative that was also implemented was a two-stage algorithm that integrated an extended Kalman filter with an adaptive one in the first stage and a conventional Kalman filter in the second stage merging the same data from the sensors mentioned in the first alternative. Finally, the results obtained are shown and a detailed analysis of what is found in each designed algorithm is made.