Accurate Waypoint Navigation using Non-Differential GPS

Abstract

Land-based waypoint navigation usually requires accurate position informafion to effectively function in either natural or n%an-n%ade terrain. Most systems solve this problem by using differential GPS and/or 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.

Document Details

• Document Type: Technical Report
• Publication Date: Jul 01, 2002
• Accession Number: ADA422034

Entities

People

• G. A. Gilbreath
• J. Q. Lum
• J. W. Muelhauser
• Michael H. Brunch

Organizations

• Naval Information Warfare Systems Command

Tags

Communities of Interest

• Autonomy
• Materials and Manufacturing Processes
• Sensors
• Space

DTIC Thesaurus Topics

• Abstracts
• Algorithms
• Coordinate Systems
• Dead Reckoning
• Filters
• Images
• Inertial Navigation
• Inertial Navigation Systems
• Kalman Filters
• Measurement
• Navigation
• Operating Systems
• Photographs
• Statistical Algorithms
• Unmanned Ground Vehicles
• Unmanned Vehicles

Fields of Study

• Computer science

Readers

• Inertial Navigation Systems.
• Positioning, Navigation, and Timing (PNT) Technology.
• Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

• AI & ML
• AI & ML - Autonomous Systems
• AI & ML - Machine Learning Algorithms
• Autonomy
• Space
• Space - Spacecraft Maneuvers