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Submission + - DARPA Develops Non-GPS Navigation Chip (gizmag.com)

Zothecula writes: The Global Positioning System (GPS) has proved a boon for those with a bad sense of direction, but the satellite-based system isn’t without its shortcomings. Something as simple as going indoors or entering a tunnel can render the system useless. That might be inconvenient for civilians, but it's potentially disastrous for military users for whom the system was originally built. DARPA is addressing such concerns with the development of a self-sufficient navigation system that can aid navigation when GPS is temporarily unavailable.
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DARPA Develops Non-GPS Navigation Chip

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I've noticed several design suggestions in your code.

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