An Affordable Rugged Inertial-Based Navigation System for Highly Accurate Position and Attitude Estimation Without the Use of GPS

Award Information
Agency: Department of Defense
Branch: N/A
Contract: N00167-11-P-0118
Agency Tracking Number: N103-221-0100
Amount: $79,927.00
Phase: Phase I
Program: SBIR
Awards Year: 2011
Solicitation Year: 2010
Solicitation Topic Code: N103-221
Solicitation Number: 2010.3
Small Business Information
200 Canal View Blvd, Rochester, NY, -
DUNS: 073955507
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Liang Tang
 Team Lead, Intelligent Co
 (585) 424-1990
Business Contact
 Mark Redding
Title: President
Phone: (585) 424-1990
Research Institution
Impact Technologies, in collaboration with the Rochester Institute of Technology, Virginia Tech and the Boeing Company, proposes to develop and demonstrate a rugged, GPS-independent, miniature, low-power and light-weight device that provides highly accurate position and attitude measurements for USV operations in harsh marine environments encompassing highly dynamic maneuvers and vibrational effects. In contrast to the conventional GPS-dependent devices, our device implements an Unscented Kalman Filter-based three-dimensional position and attitude estimator that makes use of low-cost sensors such as accelerometers and rate gyros. The key innovation is to identify the local gravitational position in real-time and use it to bound sensor drift errors to achieve highly accurate state estimation. The objective is achieved by a unique hardware design that combines a dual-arc accelerometer array with three-axis rate gyros and optional heading sensors. High vibration effects are estimated and eliminated by subtracting the imposed loading from the accelerometer measurements to provide a highly robust system. Preliminary simulation studies have demonstrated a position estimation accuracy that exceeds Navy"s requirements (<0.5 nmi/hr drift rate). While Phase I will focus on proof-of-concept software-in-the-loop demonstration, a hardware prototype will be fabricated, tested on Virginia Tech"s USV platform and delivered to Navy in Phase II.

* Information listed above is at the time of submission. *

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