Modular integrated guidance, navigation, and control

A modular, integrated guidance, navigation, and control system is described that can be used in a wide variety of moving vehicle applications. The system comprises 3 modules; the guidance module controls the motion of the center of mass of the system, issuing a command signal that the control module (autopilot) is designed to track. These modules are designed under the assumption of perfect state knowledge, and the navigation module provides and estimate of the total state of the vehicle which is distributed to the other modules. The advantages of this approach are discussed in general and illustrated by navigation of an autonomous land vehicle.