Measurement Robotic Arm (MRA) for the evaluation of localization sensors properties
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The purpose of this longitudinal project is to verify the dynamic properties of the Real Time Kinematic receivers (‘RTK’). For this purpose, a verification method using Measurement Robotic Arm (‘MRA’) described in this paper has been developed. This device can be moved along a circular trajectory in a horizontal surface. Using the methodology described in this paper, the absolute position of the MRA trolley in absolute time can be defined with absolute accuracy and can serve as a reference for the verification of RTK receivers positioning. Its movement, including its breaking, can be controlled via a PC app and various sensor properties can be monitored. The position of the trolley is determined by the encoder. A Hall sensor indicates the absolute start position of one full turn. The absolute time marks of the measurement and the time synchronization of the microprocessor based on Pulse Per Second (‘PPS’) were obtained from the standard GNNS receiver. This study provides information about a proposal solution of the MRA reference system in terms of the frame construction description, the design of electronic equipment and the design of a software solution for processing and logging of messages. This paper also presents the results of three tests performed to verify the functionality and reliability of the MRA system: PPS time accuracy verification, the quantity and correctness of sent messages according to the arm instantaneous speed, and a real RTK verification test. The MRA also can be used to verify the dynamic properties of other localization devices.