Phase II Amount
$1,099,097
This Phase II effort is proposed to further mature the technological approach of integrity-enabling Generic Estimation Manager (iGEM). iGEM automatically fuses all available sources of navigation-related information into an overall positioning, navigation and timing (PNT) solution while optimizing its accuracy, availability, continuity and integrity. The PNT system mechanization automatically (i.e., without on-line or off-line human intervention) and optimally combines all available navigation data and maintains solution continuity, availability and integrity based on three key technological innovations, namely, (i) generic sensor-fusion that optimally fuses measurements from all available navigation sensors thus maximizing the accuracy and availability; (ii) outlier-aware filtering for detection and exclusion of faulty measurements to ensure the continuity; and, (iii) decentralized estimation that utilizes solution separation (between individual navigation sensors and/or their respective aiding channels) to support navigation integrity with protection levels thus enabling assured PNT. Phase I has successfully demonstrated the feasibility of the proposed navigation concept using experimental data for aerial (UAV), ground vehicle and dismounted (pedestrian) test scenarios. The main goal of Phase II is to develop an embedded prototype and demonstrate its performance characteristics in playback and real-time operational modes. Various test scenarios are anticipated including flight data provided by the Army sponsor (for playback demo), as well as real-time demonstrations for QuNavs test scenarios (with software-injected threats) and GPS-stressed assessment exercises supported by the Government. Year 1 effort will finalize the system architecture to include advanced features such as (i) robustified integrity algorithm (with protection levels for multi-fault cases), and readmission logic for aiding sources (for cases such as in-out of a GPS-compromised area); and (ii) reconfiguration logic that addresses inertial sensor failures utilizing multiple sources of dead-reckoning navigation to support the core navigation functionality. Year 2 will port post-processing software prototype of iGEM to an embedded real-time functionality. Two versions of iGEM prototype will be developed. The first version will utilize QuNavs embedded sensor-fusion board for rapid development and validation and for commercialization to civilian markets. The second version will be based on Northrop Grummans embedded software-defined PNT card (MAGNOM) for transitioning to military systems. iGEM will be implemented as a zero-SWAP software-based add-on to existing MAGNOM capabilities. As a result, it will be fully compatible with different form-factor implementations for Armys MAPS and PGM systems.
