Performance Enhancements of Ranging Radio Aided Navigation

Abstract

To accomplish Navigation in areas denied Global Navigation Satellite System (GNSS), such as around buildings or in steep valleys, alternative methods must be used. Radio ranging systems have been a part of the navigation solution for years. To improve the position estimate it is believed that using vision, consumer grade inertial navigation systems, and any other measurement available can aid the navigation solution. To accomplish this, an extended Kalman filter was developed. It was configured as a centralized filter. This produced the optimal solution showing that as image measurements were added, the navigation solution did improve. To simulate this with multiple vehicle and/or soldiers required a large state vector for the Kalman filter. To manage the large number of states and efficiently incorporate them into influence matrix's, a "Rosetta stone" was designed for state management.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2009
Accession Number
ADA499625

Entities

People

  • Patric J. Ernsberger

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Human Systems

DTIC Thesaurus Topics

  • Air Force
  • Algorithms
  • Angular Momentum
  • Artificial Satellites
  • Coordinate Systems
  • Filters
  • Global Navigation Satellite Systems
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kalman Filters
  • Measurement
  • Navigation
  • Position Finding
  • Range Finding
  • United States Government
  • Vehicles
  • World Geodetic System

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Enterprise Information Systems Architecture and Joint Command Capability Interoperability Support.
  • Positioning, Navigation, and Timing (PNT) Technology.

Technology Areas

  • Space