1. Although these dynamic effects are unmodeled, the test setup demonstrated the ability of the laseraided inertial navigation system to maintain a locally accurate position estimate with little drift over short distances. Figure 36 shows the map created during the test, along with the outline of the test environment for comparison. One notable effect observed during the CoreSLAM test was that the laptop computer was not able to process the laser scans in real time using even modest settings for the Monte Carlo scan registration routine. The navigation time increment is triggered by the external clock signals of the IMU at an assumed 0 20 40 60 80 100 120 140 160 180 -0.2 East Position, Hover Position Hold (CoreSLAM)
2. Time, sec 0 20 40 60 80 100 120 140 160 180 -0.2 North Position, Hover Position Hold (CoreSLAM)