Title :
The precise INS/GPS geolocation of a vehicle-towed UXO detection system
Author :
Lee, Jong Ki ; Cacamise, Dana J., II ; Jekeli, Christopher
Author_Institution :
Div. of Geodetic Sci., Ohio State Univ. Columbus, Columbus, OH, USA
Abstract :
It is widely known fact that the precise position and orientation is necessary for the UXO detection and discrimination. The primary geolocation system is a dual-frequency GPS receiver integrated with a three dimensional inertial measurement unit (IMU). This study focused on the optimal data processing techniques (wavelet de-noising, nonlinear based filtering, post-processing smoothing) which have been developed and proposed for the high precise geolocation of IMU/GPS system. We mounted two IMUs (HG1700 and HG1900) and one GPS receiver on NRL´s vehicle-towed system which already has three Trimble GPS and one IMU (Crossbow 400C). The positions from HG1700 and HG1900 are estimated between control points separated in time by 2 and 4 seconds and compared to 1 Hz GPS control.
Keywords :
Adaptive filters; Data processing; Filtering; Global Positioning System; Measurement units; Noise measurement; Noise reduction; Smoothing methods; Testing; Vehicle detection; Adaptive Filter; EKF; EKS; INS/GPS; UKF; UKS; UXO; Wavelet; component;
Conference_Titel :
Position Location and Navigation Symposium (PLANS), 2010 IEEE/ION
Conference_Location :
Indian Wells, CA, USA
Print_ISBN :
978-1-4244-5036-7
Electronic_ISBN :
2153-358X
DOI :
10.1109/PLANS.2010.5507277