A system is proposed for updating the inertial navigation system aboard a rapid runway repair robot, associated with 3 concern forming a new and innovative approach: ring laser gyro strapdown system of ins; Kalman Filter Software. When combined in a unified system, they can achieve the solicitation's goals. The new surveying technology is the instrument geodimeter 4000. It can track and measure to a moving target (RRR robot) automatically in "tracking mode", where it operates unattended suitable for use in a hazardous environment, providing complete positional information (slant range, horizontal range, horizontal and vertical angles) of high accuracy. The proposed ins employs a strapdown system with the ring laser gyro, which uses optical principles as opposed to mechanical ones used by the gimbaled system; thus, many moving parts and a lengthy process of initialization are eliminated . This system is becoming increasingly more common, and will become increasingly less expensive than the gimbaled system. The proposed Kalman Filter uses all available data, past and present; observations from the ins, the geodimeter 4000, and the attitude sensors. The Kalman Filter updates the ins optimally and redundantly in realtime; thus, all available data are used to protect the robot.
