Design of an Integrated Navigation System for Robotic Vehicle Applications

摘要

This paper describes the design process for an integrated navigation system appropriate for robotic vehicle applications. The Global Positioning System (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 representative results for the selected configuration(s), is also described in what follows.