Scott Kimbrell

Most outdoor robots rely on Global Navigation Satellite Systems (GNSS), benefitting from both the ubiquity and the absolute accuracy of the GNSS. Orientation is another output which can be provided with the use of a dual antenna GNSS systems which can help not only in obtaining heading information but also in reducing the initialization time for having a fast vehicle orientation. However, GNSS, which is built on processing of externally provided signals, is inherently vulnerable to the influence of destroying signals (jamming) or fake signals created to mislead the GNSS receiver. Self-Jamming is also a common problem even with the more professional robotic solutions and this can be caused by self-interference when using other payloads such as lidars, cameras, etc.

This presentation will provide a view on the integration of GNSS with robots and explain how positioning and orientation can be best integrated and used within the ROS2 driver. Attendees will also learn of the different errors that can affect a GNSS receiver, as well as the techniques in the GNSS receiver to overcome those problems. The speaker will also illustrate how a careful choice of the right GNSS receiver can crucially contribute to the robust, accurate and safe performance of an autonomous robot (specially with focus on jamming and spoofing).