Highly Precised and Efficient Robot-Based ESPAR Antenna Measurements in Realistic Environments

In this paper, we present a novel approach utilizing a small Unmanned Surface Vehicle (USV) equipped with Global Navigation Satellite System (GNSS) technology to facilitate large-scale outdoor automated measurements. The system employs dedicated software and measurement scripts to autonomously navigate the robot along predefined routes, stopping at multiple points for data collection. This method minimizes observational error and enables the efficient verification and validation of DoA and positioning algorithms. We provide a detailed overview of the robot's architecture, operating modes, and system performance, demonstrating its capability to achieve high accuracy and repeatability in measurements. Additionally, we present results from a DoA estimation experiment using an electronically steerable parasitic array radiator (ESPAR) antenna, showcasing the system's ability to provide precise and consistent measurements across various transmission module heights.