Integrated Navigation System Development

The purpose of Phase I of this proposed project is to conduct research to establish the feauibility of developing a flexible, modular integrated navigation system capable of determining true "earth frame" 3-axis platform position, orrientation and velocity as a function of time over a wide range of time scales. The proposed approach io to provide a near optomal yet robust processing algorithm to merge navigation inputs from various sources, primarily an inertial navigation system and Doppler and/or correlation velocity sensing molar, but optionally other velocity or position references. During Phase I we will develop a system performance model, investigate alternative processing algorithms and in-situ bias reduction techniques, characterize expected performance, and evaluate size, weight, and power tradeoff, of the sonar, inertial, and navigation processor packages.