Selection and integration of a Global Positioning System receiver with a CPU
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The Global Positioning System (GPS) is revolutionizing the science of navigation. Never before has there been a system that could provide real time, world wide, continuous coverage with the such precision. Yet, the accuracy achievable with GPS alone is not sufficient to achieve autonomous flight of an Unmarined Aerial Vehicle. However, when integrated with an Inertial Navigation System and other non-inertial sensors using a Kalman Filter, GPS supplies the critical positioning information to permit such an achievement. This thesis presents the selection and integration of a GPS receiver using Differential GPS (DGPS) in support of a UAV autonomous flight project. Contemporary electronic navigation systems are surveyed, GPS operation is reviewed, and a Motorola PVT-6 GPS receiver selected. Using the Motorola Proprietary Binary Format protocol, several software drivers were written in C to interface the information to an Intel 80486DX CPU using the RS-232 serial communication standard. Finally, an examination is made to determine the maximum reacquisition time, the DGPS accuracies achievable and the effects of pseudorange correction latency on DGPS accuracy
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