Navigation · TrackFusion

Independent navigation.
In contested environments.

Electronic warfare can make GNSS based navigation ineffective in contested environments. TrackFusion navigates independently: the IMU predicts motion, radar map matching corrects drift and a thermal scene check confirms the fix. GNSS is a check only — never used to navigate. The host autopilot receives course corrections and retains flight control.

IMU motion prediction Radar map match Thermal scene check
ShoalOS Simulator rehearsing a GNSS outage along an Engadin valley route
ShoalOS Simulator · GNSS outage rehearsalScripted demo
NAVIGATION PIPELINE

One continuous estimate. Two reference checks.

The IMU predicts motion throughout the flight. Radar and thermal matches against stored references correct and cross-check the estimate; a position fix is accepted when both agree. The planned waypoint is a destination, while the sensor matches provide evidence of position.

PRIMARY

Predict motion

The IMU predicts position, velocity and orientation 1,000 times a second, including between fixes. Barometer and airspeed feed the same fusion core.

GROUND PROFILE

Radar altimeter

Ground heights measured along the track build a terrain profile beneath the aircraft. Imaging radar adds a 2D ground patch.

CORRECTION

Radar map match

The radar profile is matched against the stored terrain map to correct accumulated navigation drift.

VERIFICATION

Thermal scene check

A thermal terrain picture is matched against the stored reference scene. The estimate is updated when radar and thermal agree.

GNSSCHECK ONLY
Never used to navigate
The fused estimate does not depend on satellite signals. GNSS serves only as a comparison against the navigation output.
FPGASoC
System-on-chip · fixed-timing logic + ARM cores
Fixed-timing logic cleans readings, predicts motion and runs the radar and thermal matches; ARM cores update the estimate. Timing remains to be validated.
FIXRADAR + THERMAL
Accepted when both agree
The estimate is updated along-track and cross-track only when the radar map match and thermal scene check agree. The host autopilot executes the flight plan.
Why FPGA

Predictable processing is the design objective. L1 runs motion prediction, the radar map match and the thermal scene check on fixed-timing logic. L2 manages navigation services and fallback policy. Explore the proposed board architecture →

PROCESSING CORE

Sensors in. Six steps. Course correction out.

TrackFusion runs on an FPGA system-on-chip: fixed-timing logic for the sensor pipeline and ARM cores for the estimate update.

StepInputWhat happensRuns on
1 · Time-stamp + cleanAll sensorsA hardware clock time-stamps readings; weak readings are droppedFPGA
2 · Predict motionIMUPosition, velocity and orientation predicted 1,000 times a secondFPGA
3 · Ground profileRadar altimeterGround heights along the track build the terrain profileFPGA
4 · Radar map matchGround profile, imaging radarProfile matched against the stored terrain map to correct driftFPGA
5 · Thermal scene checkThermal cameraTerrain picture checked against the reference sceneFPGA
6 · Update estimateRadar + thermal agreementAlong-track and cross-track update; course correction to the autopilot over signed serialARM

GNSS is a check only — compared with the output, never used to navigate. Barometer and airspeed feed the same core. The host autopilot retains flight control.

Integrate the navigation payload.

A defined subsystem for resilient navigation — not a replacement for the host aircraft or autopilot. Fitted at build or retrofitted.

Discuss integration View TrackFusion →
FLIGHT SIMULATION

GNSS outage rehearsal.

The ShoalOS Simulator flies an authored waypoint route through the Engadin valley, Switzerland. UAV camera, imaging IR, radar and navigation-sensor panels run alongside the 3D scene, with an event log of each phase and GNSS state.

ShoalOS Simulator · Engadin valley, SwitzerlandScripted demonstration
  1. PHASE 01

    Valley transit

    Follow the authored waypoints along the lake valley with GNSS available.

  2. PHASE 02

    Degraded environment

    Rehearse the GNSS outage while the route continues.

  3. PHASE 03

    Mountain passage

    Cross mountain terrain along the planned route.

  4. PHASE 04

    Observation orbit

    GNSS recovered; orbit the observation area.

Scripted animation from an authored route; the UAV is enlarged for visibility. Sensor panels are simulated or illustrative — not flight results. Imagery © Esri & contributors · Terrain © Mapzen / source providers · OpenGlobus.

THE MISSION, STEP BY STEP

From flight plan through a GNSS outage.

Ground preparation. Independent navigation. Operator review.
Follow the mission through electronic warfare.

ON THE GROUND Planner

Start with a reviewed route.

Select the destination and waypoints, calculate and review the route, then export the flight plan for the host autopilot.

OUTPUTReviewed flight plan
Explore Nav Planner ↗
ON THE GROUND TrackFusion SDK

Configure the payload.

Load the terrain map, reference scenes and payload configuration, and expose navigation data to the host aircraft. RECONN.EARTH prepares the thermal reference scenes.

OUTPUTPayload configured
Explore the payload ↗
ON THE VEHICLE GNSS available

Navigate independently.

The IMU predicts motion; the radar map match corrects drift and the thermal scene check confirms the fix. GNSS is available but used only as a check.

HANDOFFCourse corrections → host autopilot
Explore the fusion pipeline ↗
ON THE VEHICLE GNSS jammed or spoofed

Keep navigating through the outage.

Electronic warfare denies or spoofs GNSS. Navigation does not depend on it: radar and thermal fixes continue, and a position fix is accepted when both agree.

FIXRadar + thermal agree
Watch the flight simulation ↗
ACROSS THE SQUAD SquadSense · planned

Share confidence across the squad.

Navigation confidence and payload health are shared over the secured data link. Systems can retask available resources in response to a failed sensor, drone or mission objective.

HANDOFFConfidence + health → squad
Explore SquadSense ↗
BACK WITH THE OPERATOR Vision SDK · ATD/ATR planned

Detect, recognize and track.

Thermal imagery tracks the object while navigation continues. Video and track context return to the operator; the operator and host retain target decisions.

HANDOFFVideo + tracks → operator review
Explore detection and tracking ↗

The host autopilot retains flight control. Navigation continues during observation; object tracking is a separate payload function.

SquadSense and Vision SDK ATD/ATR are planned. The flight simulation is a scripted demonstration, not a flight result.