Robust GNC Based On Standardization Across Various Vehicle Platforms

摘要

Guidance, Navigation, and Control (GN&C) are applicable to all unmanned vehicles as each must autonomously sense position and orientation and then correct accordingly using actuator systems to meet the desired trajectory. This paper will describe and discuss a novel concept for utilizing standardization, including plug-and-play (PnP) concepts, in the structured implementation of GN&C systems for unmanned vehicles. The focus of the approach is to leverage commercial standards while tailoring the implementation to accommodate the specific needs of unmanned vehicles, as well as the unique environmental constraints of each vehicle type. The paper will concentrate on the development of standards for a ubiquitous computing system and PnP network as applied to sensors, actuators, and algorithms that will result in a more robust unmanned GN&C system that can be shared, scaled, and tailored as needed to meet the variations within the unmanned arena.