Design of an Integrated Navigation System for Robotic Vehicle Applications

G. Jeffrey Geier, Algyte Cabak, Larry Sieh

Abstract: This paper describes the design process for an integrated navigation system appropriate for robotic vehicle applications. GPS is considered as a primary positioning sensor, with an inertial system utilized for dead reckoning. Several possible dead reckoning system options were considered, including magnetic-compass/odometer, Doppler radar, and both two and three accelerometer inertial systems. Accuracy, autonomy, resistance to countermeasures, and cost were considered in evaluating the navigation system design alternatives. A simulation which realistically models the robotic vehicle environment was utilized in predicting navigation system performance. The simulation, along with ┬Ěrepresentative results for the selected configuration(s) are also described in what follows.
Published in: Proceedings of the 43rd Annual Meeting of The Institute of Navigation (1987)
June 23 - 25, 1987
Dayton, Ohio
Pages: 65 - 69
Cite this article: Geier, G. Jeffrey, Cabak, Algyte, Sieh, Larry, "Design of an Integrated Navigation System for Robotic Vehicle Applications," Proceedings of the 43rd Annual Meeting of The Institute of Navigation (1987), Dayton, Ohio, June 1987, pp. 65-69.
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