GNSS-Based Narrow-Angle UV Camera Targeting: Case Study of a Low-Cost MAD Robot.

One of the key challenges in Multi-Spectral Automatic Diagnostic (MAD) robot design is the precise targeting of narrow-angle cameras on a specific part of the equipment. The paper shows that a low-cost MAD robot, whose navigation system is based on open-source ArduRover firmware and a pair of low-cost Ublox F9P GNSS receivers, can inspect the 8 × 4 degree ultraviolet camera bounding the targeting error within 0.5 degrees. To achieve this result, we propose a new targeting procedure that can be implemented without any modifications in ArduRover firmware and outperforms more expensive solutions based on LiDAR SLAM and UWB. This paper will be interesting to the developers of robotic systems for power equipment inspection because it proposes a simple and effective solution for MAD robots' camera targeting and provides the first quantitative analysis of the GNSS reception conditions during power equipment inspection. This analysis is based on the experimental results collected during the inspection of the overhead power transmission lines and equipment inspections on the open switchgear of different power plants. Moreover, it includes not only satellite, dilution of precision, and positioning/heading estimation accuracy but also the direct measurements of angular errors that could be achieved on operating power plants using GNSS-only camera targeting.