Robot case
UM982 for Outdoor Robot Heading and Localization
Outdoor robots need stable heading, known covariance, and clear failure handling when they pass trees, buildings, fences, and metal structures.
| Problem | Wheel odometry and magnetometers drift outdoors, while single-antenna RTK cannot directly provide vehicle heading. |
|---|---|
| Recommended UM982 Setup | UM982 with two matched antennas, ROS2 host, correction link, wheel odometry, and log review for heading/fix transitions. |
| Antenna / Baseline Notes | Mount antennas on a rigid baseline aligned with the robot frame; measure baseline and protect both RF cables. |
| Correction Strategy | NTRIP for normal operation, local base for controlled sites, and fallback behavior when correction age rises. |
| Field Checklist | Log heading, fix type, C/N0, robot speed, turn radius, correction age, and locations where FLOAT or drift appears. |
| Success Experience | Successful robots combine UM982 heading with odometry and reject GNSS confidence during low C/N0 or stale correction windows. |