Relative GPS Precise Positioning for Formation Control

This research will explore the feasibiltiy of the development of an Intelligent Formation Control System (IFCS). The IFCS will integrate GPS, navigation, computer, communication, and control technologies in an optimal manner to enhance the travel of the individual vehicles as well as formation control. The IFCS will be integrated through the use of Kalman or other software filtering techniques. In addition to GPS data, the IFCS will utilize sensor data commonly available on low to medium dynamic land vehicles; data such as odometer, speedometer, and mapping data available in the form of computer files. Precise GPS observations will be required for this effort. We plan to investigate kinematic carrier ranging and Differential GPS (DGPS) as potential measurements for the IFCS. The DGPS concept will utilize a moving reference receiver for real time determination of the relative positions of GPS equipped vehicles. SysTeam, Inc. will utilize an existing software product to develop the integration filter. This software, developed by Wright Patterson AFB, Ohio, is known as Matlab Simulation for Optimal Filter Evaluation (MATSOFE). MATSOFE is a general purpose software tool written in the MATLAB language which is used for evaluating navigation performance and for designing integrated systems that employ optimal filtering techniques.