CAREER EPISODE 1

A. INTRODUCTION
CE 1.1
This portion provides the details regarding the work performed in the project named “VGPS a
visually augmented approach to improving GPS repeatability”. I performed this work as a
leader of the project team. While undertaking the task, I was studying Master degree in Electronics
Engineering from La Trobe University situated in Melbourne Australia. The working of the project
started from …………and continued up to ……………..
B. BACKGROUND
CE 1.2
Global positioning system provides the tracking of the time as well as GPS receiver’s location on
the earth within the line of sight generated with the help of 4 GPS satellites within the constellation.
This project mainly deals with the improvement work in the repeatability of the GPS using a
technique VGPS, i.e., visually Augmented Technique for GPS repeatability. Here, the robot would
be using the VGPS technique along with the capability of the machine vision for the purpose of
performing the pose estimation on the ground floor for the GPS calibration of the fixed objects. In
this project, the technique would not use any of the hardware on the ground along with power but
would use the GPS receiver with it.
CE 1.3
It is an important step to define the deliverables of the project which would be accomplished step
by step in an appropriate way. I have mentioned the defined deliverables below.
 To experiment with the static repeatability of the GPS receiver for drift measurement.
 To experiment with the VGPS repeatability to validate the efficacy of the technique.
 To perform the comparison of the VGPS and static repeatability for analyzing the
improvement in the GPS repeatability.
CE 1.4
I got involved in this project during my college. I solely performed this project in order to
understand the VGPS technique enrollment in the improvement in the GPS repeatability. I was
involved in selecting the points for recording the data for different locations for the different
atmospheric condition. More, I collected the data and compared the working of the VGPS
technique. Also, I analyzed the time taken for this technique for improving the repeatability.
CE 1.5
To perform the project work for the achievement of the certification it is important to follow the
hierarchical order of the particular organization. During the work, I followed the hierarchy of the
college being in the highlighted position.
 LA TROBE UNIVERSITY

DEPARTMENT OF ELE
CTRONIC ENGINEERING

PROJECT COORDINATOR

PROJECT HEAD

MYSELF

Fig: Organizational Chart

CE 1.6
In order to achieve the defined deliverables successfully, I went through the following tasks
precisely.
 To develop the flow chart showing the operation of the VGPS technique.
 To use the machine vision for the calculation of the GPS offset.
 To interface the microcontroller with the GPS receiver.
 To capture the points with varying surrounding obstacles.
 To record the GPGSA data during the project work.
C. PERSONAL ENGINEERING ACTIVITY
CE 1.7
Initially, I carried out the research by gathering the articles and research paper using the internet
regarding the GPS repeatability and the VGPS technique. Moreover, I studied in-details about the
robot navigation, pose estimation and the global positioning system. Along with all these, I studied
about the DGPS (Differential GPS) technique and the AGPS (Assisted GPS) which is the older
version of the VGPS technique. More, I went through the making of the flow chart of the VGPS
technique implementing both learning and compensated mode.
CE 1.8
For this project work, I employed the knowledge of communication engineering to test the visually
augmented GPS technique. Also, I employed the understanding of the global positioning system
for the selection of the points for the experiment. More, I used the understanding of the pose
estimation based VGPS system for the fiducial points. Along with all that, I obeyed the standards
of the college and the university while performing the experiment. Additionally, I followed the
standards like ISO 17123-8 for calibration and checking the satellite positioning.
CE 1.9
 Initially, I developed the flow chart of the operation of the VGPS technique by dividing it
into two modes like compensated and learning mode as shown in the figure below. For the
learning mode, I located the fiducial marker for which the robot platform was placed at a
close range of 10s of the meters. Then, I used the machine vision for the closest approach
of the robot platform. After that, I used the calibration coordinate for the calculation of the
GPS offset. Then, for the compensated mode, I applied the GPS offset reading to the data
that were sampled for accuracy improvement.

Fig: Operational flow diagram of VGPS technique

 Next, I headed toward the demonstration of the VGPS technique in the variable
atmospheric condition. At first, I carried out the experiment for the commercial GPS
receiver’s static repeatability. I carried out this experiment in order to find the drift in the
different measurement conditions of the GPS receiver. For that, first I programmed the
microcontroller so that the GPS data would be periodically logged at the rate of one sample
per second. Then, I first interfaced the microcontroller to the EM-406A SiRF III GPS
receiver. And then, I placed the receiver in a static position outside providing a clear LOS
to the sky for about 45-hours time period that logged 162,676 measurements for different
atmosphere and weather. Also, I recorded the samples for different latitude, longitude as
well as altitude value.
 And, the second experiment I carried out was VGPS repeatability improvement. I
performed this task for the validation of efficiency regarding the VGPS procedure over the
short range. There, I carried out the survey of a total of 4 points i.e. two of the point was at
Kingsbury area and two of them was residing beside the watchtower in the Bundoora area.
 I captured the points with varying surrounding obstacles levels like buildings and trees. I
have placed the environmental description and the static data points static location in the
below-given table.

Fig: Environmental Description of the Static Points

Fig: Static Data Points Location

 I took the first two points (1 and 2) at a distance of 100 meters apart. There, I started the
experiment by collecting the data from point 1 for five minutes and then moved to point 2
and waited there for two hours to collect the data for a total of 2 hours and 5 minutes. I did
so in order to fix the satellite position to point 1 and then move toward point 2 staying for
two hours. And then, I took the other two points (3 and 4) at a distance of 20 meters apart
at the high altitude in an open source. Thereafter, I moved on for comparing the logged
RAW GPS data with the corrected data by the VGPS so that to analyze the magnitude of
error for each of the data points.
 At first, I checked the drift in value for longitude, latitude, and altitude which was found to
be within the standard limit. I checked the representation of the static data for both one
hour and 44 hours period and found that the variation was caused by the atmospheric
change. Further, I carried out the experiment for two hours to verify the satellite visibility
affected the data drift or not. I have shown the one-hour static data representation in the
below figure.

Fig: One Hour Static Data Representation

  Also, I recorded the GPGSA data during the experiment work. There from the GPGSA
data, I got that the GPS coordinate data was not altered by the satellite changes. And from
the second experiment, I got that the time period associated with the VGPS correction
comes to approximately 5 minutes i.e. if the robot uses the VGPS technique it would work
independently for five minutes before regaining another fiducial point for the point 1 to 2.
And from point 3 to 4, I got the VGOS correction time was approx 8 minutes.
TECHNICAL PROBLEMS AND SOLUTIONS
CE 1.10
 During the experiment, I got that the GPS receiver was not getting interfaced with the
microcontroller. Then, I checked the connection but there was no issue found. Then, I
checked the code and got that the receiving interrupt was not enabled that caused the issue.
To resolve this, I modified the program code so as to enable the interrupt which would
eventually establish an interface between microcontroller and the GPS receiver.
 At first, I performed the GPS repeatability test but it did not provide the details regarding
the result drift due to the satellite visibility. Thus, to get these details I repeated the
experiment for two hours interval and then recorded the GPGSA result.
CREATIVE WORK
CE 1.11
While performing the experiment regarding the VGPS repeatability, there was the requirement to
fix the satellite at one point and collect the data for different altitude. For that, I used point-1 for
fixing the satellite for five minutes and point-2 for the collection of moving data for two hours.
CE 1.12
During the project work, I maintained fluent communication with the project head as well as with
the supervisor so as to eliminate the delay in the work due to any of the issue. More, I also properly
coordinated with the library staffs and the lab technicians to perform the project work without any
of the issues. I recorded the daily work that was performed considering the project work. More, I
prepared the report of the overall work performed considering the daily details recorded.
D. SUMMARY
CE 1.13
All in all, in this project the VGPS correction accuracy was performed with great success which
was found to be varying mostly due to the environment. The project revealed the time constraint
of 5 minutes and 8 minutes for 1-2 and the 3-4 points.
I carried out the two of the experiment in the project and then performed the comparison work
more effectively. Also, I achieved each of the deliverables very efficiently.
During the work, I got more understanding regarding the conduction of the research work and
setting up the experiment for the further process. Also, I learned more about planning the project
and executing it more efficiently.