Mobile Ad hoc Networked GPS for Robust Positioning

IAI proposes an innovative approach to use a network of mobile GPS receivers to enhance the position accuracy of the entire network leveraging stand alone GPS positioning and Carrier Phase Differential GPS (CPDGPS) which provides relative positioning. This relative positioning is used to accurately estimate the geometry of the nodes as a rigid body. We use this geometric information regarding shape of rigid body under consideration to decrease the position error of each node in the global coordinate system used by regular GPS receivers. To achieve the targeted accuracy we address issues related to integer ambiguity inherent in CPDGPS technique, wireless link stability, network connectivity, and average alongwith maximum data rate dedicated to DGPS information exchange among the network nodes. Further, we will use adaptive Extended Kalman and Particle Filtering techniques to integrate Inertial Navigation System (INS) with GPS for higher locationing accuracy.