Development of Low Cost Mobile Platforms for Indoor Tracking, Navigation and Geo-Location
Abstract
This paper describes a novel method to locate and track entities in the absence of conventional navigation systems like Global Positioning Systems "GPS". The goal of this project is to develop low cost mobile platforms for Army Tactical Engagement Simulation training exercises that can demonstrate alternate and innovative tracking methods in urban combat areas. These platforms will play a crucial role in the Future Combat Force "FCS", as a soldier, linked to these platforms and sensors will have access to data that can provide a much more accurate picture of his surroundings. We are researching and testing schemes that will enable us to locate and track entities inside buildings, caves and dense foliage where GPS signals cannot be received. A host of sensors including Inertial Measurement Unit, GPS receiver, wireless video, Sonar, and rotary Optical encoders is used to extrapolate the GPS data as the entity loses the GPS signal when moving into an indoor location. A tablet PC acts as the central control and command terminal to receive sensor data and also to control and monitor the platform. A live wireless video from an on-board infra-red camera mounted on the platform is also displayed on the PC. To ensure constant communication with the mobile platform, we are using a Mobile Ad-hoc routing protocol "MAR" to "hop" the sensor and control data between the platforms and the central control station through other platforms on the field. We used a 1/6 scale model of an off-road vehicle to mount on-board a small form factor computer, microprocessors and sensors. Software routines in Java are used to control and collect data from the sensors through the microprocessor.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 2005
- Accession Number
- ADA490240
Entities
People
- Allison P. Wheeler
- J. Tracy
- L. Mangold
- Phuong-thao Pham
- Ravi Palaniappan
Organizations
- United States Army Tank Automotive Research, Development and Engineering Center