Results of the test campaigns
106
Once the coordinates of the two nearest waypoints are extracted, the straight line
passing through that two points is found using the known equations:
=
+1
+1
,
=
then, the distance between the straight line and the planned waypoint is calculated
using Eq.7, and defining a index which gives an idea of “how close” are the two
trajectories on the plane.
=
(1+
2
)
,
The results of the HIL simulation, using a squared 30x30m guidance tunnel are
shown in the following figures.
Figure 87: Brisighella area, planned vs HIL simulated trajectory
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