TrakPointVINS

1. Joint Capability Area

MercuryDataSystems

6.2.3 Position. Navigation and Timing The ability to determine accurate and precise location, orientation, time and course corrections anywhere in the battlespace and to provide timely and assured PNT services across the DOD enterprise. 2. Mission Need Statement Military forces require the capability to accurately navigate in environments that are traditionally denied communication connectivity with current Global Positioning System (GPS) satellites. These environments may include, but are not limited to, the interior of hardened facilities, maritime vessels, underground complexes, tunnels, and caves. Within these environments, military personnel conduct missions that require them to have the capability to accurately maintain one's position while moving, either in reference to absolute coordinates (latitude, longitude, altitude) or relative coordinates (x, y, z axes). Added to this, they also require the capability to accurately determine and produce the 3 dimensional spatial shape of the traversed environment referenced to the individual's position. This data is required in real-time, thereby facilitating their ability for accurate movement and must be re-playable in commonly used military and geospatial display formats for post-measurement uses. The capability to accurately navigate in these types of environments while conducting military operations is a complex technological challenge. Developing and deploying this capability within three years is the objective of the proposed effort. 3. Background Mercury Data Systems (Mercury) has been developing technology (TrakPoint) to support required PNT capabilities since 2003. Our technology development has primarily been driven by JSOC requirements that emphasize covert operational use and by USMC requirements that emphasize small unit operations use. PNT capability for covert operations requires autonomous, high accuracy, non-radiating technology, while PNT capability for small unit operations can employ collaborative, radiating technologies to achieve required accuracy. Our technology solutions will support both operational modes within GPS enabled and GPS denied environments. A key technology component for both types of operation is a highly accurate, small, lightweight, and low power inertial navigation system (INS) to date, development of this component has eluded DOD efforts. In 2009 DTRA evaluated TrakPoint prototype systems at Ft Hood; their evaluation report concluded with the following points: Mercury Data TrakPoint demonstrated their ability to overcome the magnetic interference present in these (GPS Denied) environments and still deliver very accurate results. TrakPoint also demonstrated their ability to deliver performance without having to conduct zero velocity updates. Because they are referencing each time the foot strikes the ground as an update there is little time for even a poor quality MEMS Gyro to build up drift. Follow on discussions are suggested with different government organizations interested in this technology to ensure appropriate efforts are directed in the best possible system performance. The system is light weight, flexible and capable to fulfill the end users requirements with only slight modification in a relative short period of time if incorporated into existing efforts.

Since the DTRA evaluation, we have developed a revolutionary new INS design. Inspired by the design of biological sensory systems, the new INS uses arrays of COTS MEMS inertial sensors per axis; unlike traditional INS designs that use a single INS sensor per axis. By combining the arrayed sensors and implementing novel sensor drift reduction methods developed at JPL, we will achieve a technology performance/cost breakthrough navigation grade accuracy at commercial grade cost. While current system development focuses on providing PNT capabilities for dismounted forces, the new INS designs will also allow DOD to improve PNT capabilities for a wide variety of platforms, particularly autonomous systems, at a fraction of the SWAP-C of current systems.
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TrakPointVINS
4. Development Plan

MercuryDataSystems

Representative prototype hardware, the Virtual IMU (Figure 1), has already been developed. The V-IMU, in ruggedized housing, is 3 cubic inches, weighs 99 grams, and requires only 2.3 watts. Onboard are (24) gyroscopes, (8) low-G triaxial accelerometers, (3) high-G triaxial accelerometers, a barometer, (2) 600 MHz DSP processors, and connectors for GPS, wireless comms, I/O and power. The V-IMU is not simply an IMU it is a complete PNT and mobile processing solution.

We have also developed initial algorithms that realize the advantages of the VIMU design. Recent lab results demonstrated these advantages compared to the nominal performance of the integrated MEMS sensors: orientation accuracy improved by 1,290%; position accuracy improved by 5,083%; and velocity accuracy improved by 1,882%. We have only scratched the surface of what is achievable with our system concept; with full implementation of the JPL methods, we expect to double, and possibly quadruple, these improvement levels. The V-IMU is currently at TRL 4. We propose to use the V-IMU to provide high accuracy, high precision PNT capabilities for dismounted forces the TrakPoint V-INS. Spiral 1 will entail replacing the IMU of the current prototype with the V-IMU and modifying current personnel navigation algorithms, which are already TRL 7, to interface with the V-IMU. Compared to the system evaluated by DTRA, this next generation system will be significantly more accurate; for example heading accuracy will improve by 13,700%. At the end of this spiral, we anticipate TRL 7 systems that can be rapidly transitioned. Spiral 2, which can actually proceed concurrently with Spiral 1, will entail development of new algorithms to further improve system accuracy and to enhance system configuration options: a. Implementation of a nonlinear position estimation filter to improve accuracy during dynamic motions b. Development of various configuration options, including body placement (torso and/or boot) c. Implementation and enhancement of the JPL drift reduction methods We anticipate that system accuracy improvements achieved during Spiral 2 may exceed the PNT requirements of dismounted forces however these improvements will broaden system usability: 1) 20x cost advantage compared to current technology; and 2) reduced SWAP advantage will enable high accuracy PNT capabilities for platforms that, today, cannot use current high accuracy INS technology due to platform size and weight limitations. Y1/Q1 Y1/Q2 Y1/Q3 Y1/Q4 Y2/Q1 Y2/Q2 Y2/Q3 Y2/Q4 Spiral 1 Spiral 2 We have submitted proposals to DTRA, ONR and ARDEC to support TrakPoint V-INS R&D. Besides this core R&D, other enhancements may be simultaneously realized, i.e. integration into PLI reporting and cooperative localization systems; integration of enhanced GPS capabilities (xiGPS); and integrated energy harvesting. 5. Technology Transition The Battle Command Battle Labs FT Gordon (BCBL-G) has proposed to sponsor and support technology transition. While we have already worked with many DOD users (as well as civilian agency users), the final system design(s) and integration(s) will likely be more firmly established as V-INS prototype systems are made available during R&D and OTE. We expect that users with special mission needs may accept the (already ruggedized) system versions shortly after Spiral 1 concludes. In any case, we expect that Technology Transition can be completed within 18 months ACA. Non-DOD transition will include law enforcement and firefighting.
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Figure 1: V-IMU electronics package before insertion into ruggedized exoskeleton