Cheetah-Traks: Subterranean Navigation via Inertial Sensors and Multipath Resistant RF Ranging

To support DHS`s goals of developing real-time positioning of first responder personnel TrellisWare Technologies proposes to extend and integrate two advanced systems for accurate position resolution in severe multi-path, GPS-denied environments such as subterranean tunnels. This approach will demonstrate the effectiveness of integrating these systems consisting of low drift inertial sensors with an iteration-based multi-path resistant RF communications/ranging radio to create a high precision denied GPS navigation solution called Cheetah-Traks. The proposed integration will focus on the enhancement of key metrics which have limited the success and accuracy of competing navigation solutions providing a tactically relevant navigation solution without compromising performance, ease of use and deployment, mobility, and scalability.