Ajoneuvon navigointijärjestelmän verifiointi

An autonomous vehicle needs a navigation system in order to operate safely. The navigation system that is used in autonomous vehicle needs to have enough accuracy to ensure safe operation. Because of this, it is vital that system can be verified before its taken in production use. In the worst case a system that is not functioning correctly can cause massive damages. The background for this thesis is a project to develop an industrial vehicle navigation system. The navigation system must be able to provide a reliable and accurate position, allowing the autonomous vehicles to operate without human interaction. The client had an existing navigation system that the new system replaced. The verification required different platforms that allowed comprehensive and safe testing during the development process. In this project, the platforms included simulation, a smaller indoor testing vehicle, and a full size vehicle. The simulation provided a controllable, fast, and repeatable platform for the testing. The indoor testing vehicle allowed safe testing in the office. The full size vehicle acted as a final verification platform that represented a production environment. Besides the platforms, methods utilizing them are needed in the verification. The methods introduced in this thesis are straight line driving, loop completion, and absolute measurement tracking. Additionally, the new system is compared against the old existing system