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
Amount:
$79,927.00
Award Year:
2011
Program:
SBIR
Phase:
Phase I
Contract:
N00167-11-P-0118
Award Id:
n/a
Agency Tracking Number:
N103-221-0100
Solicitation Year:
2010
Solicitation Topic Code:
N103-221
Solicitation Number:
2010.3
Small Business Information
200 Canal View Blvd, Rochester, NY, -
Hubzone Owned:
N
Minority Owned:
N
Woman Owned:
N
Duns:
073955507
Principal Investigator:
Liang Tang
Team Lead, Intelligent Co
(585) 424-1990
liang.tang@impact-tek.com
Business Contact:
Mark Redding
President
(585) 424-1990
mark.redding@impact-tek.com
Research Institute:
Stub




Abstract
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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