Vehicle Navigation and Localization Using Multiple Navigational Aids: Final Report

Abstract

The purpose of this project was to test the feasibility of the integration of heterogeneous sensor systems at the implementation level, as well as to investigate the theoretical development of the algorithms to integrate the navigation information. The goal is a set of algorithms to handle failures in any particular sensor and adaptive adjustment of parameters and navigational fixes. Using real field data, we have demonstrated that different sensors can be integrated in a low cost system. We have also demonstrated that no single sensor can handle the arbitrary situation, but that multiple sensors yields redundancy and robustness unachievable by each sensor alone.