Accession Number:

ADA422034

Title:

Accurate Waypoint Navigation using Non-Differential GPS

Descriptive Note:

Corporate Author:

SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA

Report Date:

2002-07-01

Pagination or Media Count:

16.0

Abstract:

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.

Subject Categories:

  • Land and Riverine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE