The GPS receiver (black) and Inertial Measurement Unit (IMU) located inside the electronics box.

In June 2004, the system using both GPS and INS sensors was tested on the Mini-Flail.  The system was able to guide the mine-clearing vehicle for short periods of time without the aid of position measurements from the GPS receiver.  Autonomous turns were successfully completed without the aid of GPS measurements anytime during the turn.  During GPS outages, the vehicle’s state is determined using measurements from an inertial measurement unit and wheel encoders.

3rd Integration, Tooele, UT