Yarbo’s PPVS combines RTK-GPS, vision, and onboard sensors for positioning. When GPS weakens under trees or beside walls, Dead Reckoning keeps Yarbo moving within the configured distance, much like vehicle navigation in a tunnel.
📍Path ：App → Yarbo Lab → PPVS.
¶ Check positioning quality
- The Diagnosis Page shows a Quality score from 0 to 1 when PPVS is enabled. It displays 0.00 when disabled.
- 🟢 Above 0.5: Normal GPS mode
- 🟠 Below 0.5: Switches to DR mode
- 🔴 No GPS or DR distance exceeded: Stops for safety
¶ Adjust DR Travel Distance
- Each setting ranges from 0 to 330 ft:
- Drawing Max Travel Distance: Mapping
- Boundary Travel Distance: Pathways, Deadends, boundaries, and sidewalks
- In-Area Travel Distance: Working areas
Higher values reduce stops and improve efficiency, but increase risk. Lower values provide safer operation, but may cause more stops. Keep distances low near pools, cliffs, and other sensitive areas.
¶ Examples:
- Stops too often in a safe area: raise In-Area Travel Distance from 60 to 75 ft
- Goes out of bounds or enters a No-Go Zone: lower Boundary Travel Distance from 30 to 20 ft
- Mapping keeps stopping: raise Drawing Max Travel Distance from 15 to 30 ft
Turn Global Apply ON to use the same PPVS settings across all areas. Turn it OFF to configure each area separately through the Settings icon.
