Accurate Waypoint Navigation using Non-Differential GPS

Abstract

Land-based waypoint navigation usually requires accurate position information to effectively function in either natural or man-made 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) 1. 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. 1. Background The goal of this project was to develop a robust waypoint navigation capability for a small mobile robot that did not rely on the availability of differential GPS. Here waypoint navigation is defined as the process of automatically following a predetermined path defined by a set of geodetic coordinates. The requirement for using non-differential Report Documentation Page Form Approved OMB No. 0704-0188 Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.

The Use of Aerial Images and GPS for Mobile Robot Waypoint Navigation

“…The use of waypoints derived from aerial imagery has also been well received by some researchers working on mobile robots in rugged outdoor environments [18], [19].…”

KAT‐5: Robust systems for autonomous vehicle navigation in challenging and unknown terrain

“…In the standard RT3000, there are two sensors (GPS and INS). These two sensors complement each other nicely as they both have reciprocal errors (GPS position measurements tend to be noisy with finite drift while INS position measurements tend to not be noisy but have infinite drift) [Bruch et al, 2002].…”

The development of a UGV-mounted automated refueling system for VTOL UAVs

“…10). [14] MOCU is also a JAUS-compliant system designed specifically for the purpose of controlling multiple heterogeneous unmanned systems simultaneously. MOCU has been utilized for the control of multiple UGVs of various sizes including MDARS, as well as much smaller man-portable systems, several USVs, and most recently a VTOL UAV.…”

“…The MOCU graphical user interface can automatically configure itself appropriately for the vehicle, system, or sensor being queried at a given time. [14] …”