A system determines the movement of a track vehicle along the ground, the track vehicle having at least a first rotatable, endless track for supporting the vehicle on the ground, a drive for causing the movement of the vehicle, and a turning system for changing the direction of the movement of the vehicle. The system has a first traction-improvement device for mounting on the track vehicle. It bears on an inner-surface side of the first track with sufficient pressure for a small-surface portion on the opposite side of the first track to engage the ground with a higher pressure than any other portion of the first track, whereby to locate a pivoting axis of the track vehicle in the vicinity thereof. A first speed sensor for mounting on the track vehicle in the vicinity of the small-surface portion on the opposite side of the first track senses the speed of movement of the track vehicle along the ground only in the direction of the rotation of the first track and provides a first information thereof, whereby the movement of the track vehicle may be deduced therefrom. Preferably the vehicle has two tracks, and the system has two such traction-improvement devices and speed sensors respectively for the two tracks.

A device is provided for enabling inertial land navigation of a vehicle, for measuring and updating vehicle heading by North-seeking and navigating. A single dual-axis gyroscope is sequenced through North-seeking, parameter calibration, and navigating by a high resolution flip table rotated by a stepper motor, without a gimballed support therefor. Inclinometers aid the gyroscope in North-seeking and parameter calibration without accelerometers therefor.

A running guide system for an automotive vehicle planned for running in a sightseeing area or the like. Special running data including right or left turn, passage through a tunnel, running in a predetermined direction and passage on a slope are stored in a cassette tape together with distance data representing the distance from a start point in the form of a plurality of check point data. By collation of the running distance data actually measured and the special running condition data with the stored data, the automobile is guided audibly or visually. Geographical data or sightseeing data are also recorded in the cassette tape and reproduced in voice from time to time. When the automobile is displaced from the planned running route, an alarm is issued. When the automobile is restored to the planned running route, the planned running guide is restored.

An adaptive trajectory apparatus and method provide vehicle control comma to steer an underwater vehicle launched from a vessel towards a contact. A plurality of measured/estimated position and motion parameters associated with the contact are provided. The contact parameters also include information on quality and alertment status. The contact parameters are compared with an information matrix that defines a plurality of trajectory strategies and data parameters required to effect each of the trajectory strategies. A trajectory strategy is defined as a candidate trajectory strategy when the required data parameters are included in the measured/estimated contact parameter set. An expert system periodically selects a unique possible trajectory strategy based upon a predetermined set of rules that utilize the received contact parameters, quality thereof, contact alertment status and vehicle state information received from the underwater vehicle. The vehicle control commands are generated with a controller using the selected unique candidate trajectory strategy and the vehicle state information.