Accurate Waypoint Navigation using Non-Differential GPS
SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
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Land-based waypoint navigation usually requires accurate position informafion to effectively function in either natural or nan-nade terrain. Most systems solve this problem by using differential GPS andor high-quality, expensive inertial navigation systems. In an effort to make waypoint navigation available to smaller tactical platforms, a tightly packaged, portable and inexpensive waypoint navigation system was developed. This system was implemented on the Man Portable Robotic System MPRS Urban Robot URBOT. The package uses inexpensive sensors and a combination of standard Kalman Filter and waypoint following techniques along with some novel approaches to compensate for the deficiencies of the GPS and gyroscope sensors. The algorithms run on a low-cost embedded processor. A control unit was also developed that allows the operator to specify path waypoints on ortho-rectified aerial photographs.
- Land and Riverine Navigation and Guidance