Architecture for Asymmetric Collaborative Navigation - Considerations for Real Time Implementation of the Collaborative Robust Integrated Sensor Positioning (CRISP) System

摘要

Under the Air Force Research Laboratory (AFRL) Collaborative Robust Integrated Sensor Positioning (CRISP) program, Northrop Grumman Corporation (NGC) is designing and building a collaborative navigation solution between multiple airborne platforms. The CRISP architecture takes advantage of AFRL's Layered Sensing construct, which enables platforms to share navigation information, including geo-registered imagery. The system makes use of the higher performing sensors on the high-flyer (HF) platform, which are less susceptible to jamming, and cameras that generate larger sensor footprint and higher resolution images of the terrain. The low-flyers (LFs) have lower-quality navigation sensors, are more likely to be jammed, and have a more limited view of the terrain. Under this scenario, the HF may assist one or more LFs such that they, too, can have similar accuracy as the HF in a GPS-denied environment. This paper presents the progress on the development of the CRISP system, based on the algorithms that have been verified using Government Furnished datasets. Some of the considerations included in the design process of the real time system are also discussed.