NAVIGATION USING SENSORS WITHOUT GLOBAL POSITIONING

SYSTEM
AJITH.C.S, JAGADEESH.S.V, LEKHASHRI T.S AND ANIL KUMAR V
UG, SJCIT, Chickballapur-562101
[email protected], [email protected]

VEENA.S
Asst.prof, SJCIT, Chickballapur-562101
[email protected]

ABSTRACT: The objective of this paper is to design and implement a system which is used for
common movement in recent days without using GPS .This system contains many sensors like IR
sensor, Accelerometer, Rotation sensor, Compass sensor. GPS is a paid service which cannot be
easily maintained by the common people and the network will not be available everywhere. So
instead of using GPS for navigation we use the above system. Arduino is a processor used which
controls all the components used. This system is not only restricted for blind. People require less
knowledge to maintain this. Here we use MATLAB to draw the virtual map of the location as we
navigate. Due to this a person can become less dependent on others. Embedded C is used for
coding the sensors and it also updates the small changes to give the accurate results.

KEYWORDS: IR sensor, compass sensor, Rotation sensor, Accelerometer, Arduino, MATLAB,

Embedded C.

INTRODUCTION

In the existing system the navigation is achieved by using GPS and it contains many external
devices which are used for generate the signals. To achieve this the devices should have the known
positions and be operated in the places where GPS is available. The accuracy of the signals are
mainly dependent on the calibrations of the devices. Small changes in these are to be continuously
noted to get the final accurate results. Maintaining this system is costly and difficult because of
additional hardware and these are sensitive to small environmental changes. In this system, we
construct a map using sensors. By using this technique the system becomes cost efficient and the
monitoring of system also accurate in nature. It is advantageous technique. As in the current
Situation we are entirely dependent on GPS . In some places there will be no availability of GPS
network. So in order to overcome we propose the system which doesnt uses GPS. In this system
path for navigation is created using learner mode that is initially a path for the destination is
achieved with the help of a person or a system. This path is stored and whenever a person again
has to go to the same place the stored path is used to help them and provide a accurate path. If
there is any mismatch of the path that is initially created map with sensors it provides a clear
indication about the errors. IR sensors are also used to find out any of the obstacles in the path.
This can also be used in the movement of known or unknown places.

Rotation Sensor is used to travel a certain distance using the input. It is a component which
supports the system for tracking the path of the virtual map that is created. The rotation sensor
attached to a motor continually measures the rotating angle. Let r be the rotation sensor reading in
degrees, d be the wheels diameter, then the travel distance of the wheels movement is calculated.
Accelerometer is used to detect and monitor the vibration machinery. It is used in inertial
navigation. It is also used to detect the magnitude and direction of proper acceleration. It also
increases the portability in the system, detects the position of the person navigating. A compass
sensor is an instrument used for navigation and orientation that shows the direction of the
geographic environment.

THEORY ON RESEARCH SURVEY

According to [1] the system covers a distance of several meters without requiring high accuracy
measurements and high precision sensors the path of the position is determine by placing the
sensors on the moving target as the distance varies the value will be recorded the digital infrared
patterns are also transmitted along with moving target the use of multiple infrared patterns
transmitting devices results in extension of area and reduces error.

According to [2] it provides a 2D inertial navigation system which uses laser. It also contains 2D
laser scanner to estimate the 6 degree of freedom position and orientation of the person.
Orthogonal building planes ensures fast and efficient estimation of map features which further
estimation of layout.

According to[3] it presents the neural networks which are based on the automatic navigation for
mobile robots in dynamic environment. Bio-inspired mechanisms also used with the neural
networks in order to solve the practical problems. It is based on L-system that is represented by
DNA coding. This system develops a controller which is used for avoiding collision with the
obstacles.

According to[4] this system uses the sensors for mapping the path of navigation without the use of
GPS. Initially the virtual map is created. During the next time for navigation this same path is
followed. Sensors are used to indicate if there is any change.

PROPOSED SYSTEM

Since GPS is a paid service and cannot be maintained by the common people this system is
proposed. It contains sensors which is used to track the path for navigation. Initially the path is
created in learner mode and is stored. This same path is used for further navigation for the same
destination. Sensors are used as the supportive components.

Reference frames
To find out the current movement of the system there is need for us to make the reference frame.
Since we are considering only 2D movements we use @ co-ordinates and it can be expressed
relative to the reference frames. The co-ordinates chosen are (X,Y). X axis points towards the sky
ad is parallel to the gravitational force. Y axis is parallel to the magnetic field of the earth.

In the early system we had assumed that the both gravitational force and the earths magnetic field
is kept constant. In that case even if there is some change in that change is neglected. This can be
done till the magnetic earths strength is less. If that
increases rapidly then the system designed uses the GPS.

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Since in this system we are not using GPS the two factors are not kept constant. As it only follows
the graph that is created in the learner mode irrespective of the field strength and the gravitational
force. Here as the system changes both X and Y direction. The accelerometer used here gives the
correct information by displaying the value on LCD to indicate the path that it is following.

Operation of accelerometer
The accelerometer is used to measure the static acceleration of gravity as well as the dynamic
acceleration resulting from the motion. Acceleration deflects the moving mass and unbalances the
differentia capacitor resulting in a sensor output whose amplitude is proportional to acceleration.
Phase-sensitive demodulation techniques are then used to determine the magnitude and direction
of the acceleration.

The ADXL335 noise has the characteristics of white Gaussian noise, which contributes equally at
all frequencies and is described in terms of g/Hz (the noise is proportional to the square root of
the accelerometer bandwidth). The user should limit bandwidth to the lowest frequency needed by
the application to maximize the resolution and dynamic range of the accelerometer.

With the single-pole, roll-off characteristic, the typical noise of the ADXL335 is determined by

(1.6)=DensityBWx(NoisermsNoise)^(1/2)

The deflection of the structure is measured using a differential capacitor that consists of
independent fixed plates. This plates are driven by 180 degree out of phase of square waves.

Travel distance
Once the orientation of the system is determined then it is necessary to find the distance travelling
by it. Usually the learner mode is created by avoiding the obstacle in that path. The same path is
recorded in the memory. So in the first time the system can easily move. If the same path is
travelled for the next time and if there is any obstacle in that path then it can identified by the use
of the IR sensor in this system.

Fig1: Block Diagram of IR Sensor

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Operation of IR sensor
The sensitivity of the IR sensor is turned by using the potentiometer. If the potentiometer is turned
in the clock wise direction the LED glows indicating the presence of the obstacle then it should be
turned in anti clock wise direction correspondingly do that the obstacle collision can be avoided.
Initially the motor A move in a direction finds the obstacle then it takes the corresponding reverse
direction to avoid the obstacle. As stated once the path is obtained it is necessary to navigate in
that path. To achieve this we make use of compass sensor. Registers maintain values while in
continuous- measurement mode. The I2C bus is enabled for use by other devices on the network in
while continuous-measurement mode.

Compass sensor
The red curve in the above diagram indicates the path created in the learner mode and blue curve
indicates the path travelling during the second time without any references. The compass identifies
the deflection in the path and directs the user in the correct path to reach the direction.

Fig2 : Map created in the learner mode

IR Sensor
Basically an IR Sensor is used for detecting an obstacle. The purpose of the transmitter is to
transform the information we want to send into a signal that can be propagated by the channel. In
the case of our wired copper channel, this means we want the information to be transformed into a
modulated voltage level, something like the pulse train. For a wireless channel, however, the
transmitter needs to encode the information onto an EM wave that can be easily propagated.

Fig3 : IR sensor

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IR Transmitter
The IR transmitter part consists of an Infra red light emitting diode that can capable of sending
modulated data within infra red band. To match the receiver frequency the the data is modulated at
38.7 KHZ by configuring 555 timer at astable mode of operation, which generates frequency using
the components R2 and C2 as shown in above fig. This frequency can be varied over a long range
just by varying the preset R1 and C1.

Fig4: IR transmitter

IR receiver
The IR sensor consists of TSOP 1738 module which is simple and effective. This module is found
commonly in the receiving end of the receiver. These modules requires the incoming data to be
modulated at certain frequencies. It operates even in indoor at a frequency of 28-10KHz.

Fig5: IR receiver

CONCLUSION

In this project we are not using GPS hence it can be operated anywhere that is this system can be
villages and even in the forest areas. In the existing system GPS is used which fails to give the
accurate result. This becomes the disadvantage of the present system. Hence this proposed system
can be also used in the local areas(within a home). This project can also be used by the people who
have less knowledge that is illiterates.

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ACKNOWLEDGEMENT

Our sincere thanks to Dr. Ravi Kumar K.M, Prof. and HOD, and our thanks to Veena .S ,asst. prof.
Dept Of ECE.

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