WALKING STICK NAVIGATOR FOR POSITION DETERMINATION

A walking stick navigator (WSN) apparatus and method comprises an aided INS (AINS) on a staff assembly with the “look and feel” of a GPS survey instrument. When GPS is available, the AINS is aided by GPS data, and the survey or manipulates the staff assembly like a standard GPS survey instrument. When GPS is not available due to signal obstruction, the surveyor manipulates the staff assembly as a walking stick. A switch means coupled to the lower end of the staff assembly provides a stationary interval signal when the surveyor plants and holds the WSN on the ground while walking. A digital computer is coupled to be responsive to AINS output signals and to the stationary interval signals and to run a program that solves a position aiding algorithm and a velocity aiding algorithm that provide at least one aiding input to the AINS for each successive stationary interval.