Accurate Waypoint Navigation using Non-Differential GPS

摘要

Land-based waypoint navigation usually requires accurate position informafion 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)'. 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.