详情

原文传递 Accurate Waypoint Navigation using Non-Differential GPS

题名：	Accurate Waypoint Navigation using Non-Differential GPS
作者：	Lum, J. Q.;Muelhauser, J. W.;Gilbreath, G. A.;Brunch, Michael H.;
关键词：	GLOBAL POSITIONING SYSTEM, LAND NAVIGATION, ALGORITHMS, POSITION(LOCATION), ROBOTICS, CONTROL SYSTEMS, LOW COSTS, KALMAN FILTERING, ACCURACY, PROCESSING EQUIPMENT, PLATFORMS, EMBEDDING, INERTIAL NAVIGATION, MANPORTABLE EQUIPMENT, GYROSCOPES, URBAN AREAS.
摘要：	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.
总页数：	16
报告类型：	科技报告