Recovery of Lost Navigation Data in Mobile Robotic Platforms

Mobile robotic platforms(MRP) are increasingly used in various areas of human activity. When using them, an important task is to determine the spatial orientation, measure the parameters of the movement of the MRP, etc. One of the problems that arises in determining navigation data and other measured parameters is their loss at a specific period, for example, due to interference or the temporary loss of visibility of GNSS navigation satellites. However, the functioning of navigation components of onboard radio-electronic devices for measuring movement parameters and determining the spatial orientation of the MRP requires the availability of primary navigation information without loss and in real time. Therefore, it is necessary to recover lost navigation data, especially in the case of MRPs, using onboard facilities with limited computing performance. Modern algorithms for recovering lost navigation data are analyzed, and it is determined that the publications do not pay enough attention to implementing these algorithms, taking into account the limitations of embedded systems. For implementation in mobile robotic platforms, an algorithm using the principal component analysis (PCA) method was selected, which, with low computational complexity, provides sufficient accuracy of data recovery. Using the developed algorithm in mobile robotic platforms provides data processing on a computing platform with limited resources. It allows streaming data to be processed on the MRP`s coordinates in real-time. Modern microcontrollers and systems on a chip (SoC) will enable you to solve the problem of recovering lost navigation data, taking into account restrictions on weight, dimensions, power consumption, etc. A structural diagram of a means for measuring motion parameters and determining spatial orientation for ground MRP has been developed. It is determined that the main components of the tool are a set of navigation sensors using a GPS/GNSS-based coordinate determination module. Data recovery tools have been created using the ESP32-C3 microcontroller, GNSS module type M10Q-5883, which contains a digital compass module QMC5883L and an accelerometer and gyroscope module MPU-6050. Debugging and testing the developed tools for recovering lost navigation data for MRPs have been performed. Analysis of the test results shows that the platform using the ESP32-C3 microcontroller provides data processing in 43 milliseconds. For the rate of GNSS data arrival at one measurement per second, this is enough to provide real-time mode.