GPS-Free Navigation in Buildings - NA-241_2018_final_report_SBLibby_12_31_18

Technical Report · Wed Jan 09 00:00:00 EST 2019

DOI:https://doi.org/10.2172/1498455· OSTI ID:1498455

Libby, Stephen B. ^[1]; Chambers, D. H. ^[1]; Chang, J. ^[1]; Zumstein, J. ^[1]

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1. Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

This project’s purpose is to evaluate candidate navigation solutions for GPS free inspection tools that can be used in tours of large building interiors. While the IAEA is currently using a system (ANPS – autonomous navigational and positioning sensor) that provides a satisfactory solution under ideal conditions for tours up to one hour, significant improvements for longer tours under variable conditions (also including the added features of on-board processing and time synchronization) are needed. In principle, next generation COTS portable inertial measurement unit (IMU) sensors with satisfactory accuracy, SWAP (size, weight, power), low error, and bias drift can provide sufficiently accurate dead reckoning navigation in a lengthy tour of a large building in the absence of GPS.

• Research Organization: Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)
• Sponsoring Organization: USDOE National Nuclear Security Administration (NNSA)
• DOE Contract Number: AC52-07NA27344
• OSTI ID: 1498455
• Report Number(s): LLNL-TR-766218; 955404
• Country of Publication: United States
• Language: English

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