Position and Orientation Determination for a Guided K-9

Jeff Miller and David M. Bevly

Abstract:	A GPS/INS sensor suite was attached by a vest to a canine (K-9) in order to attain characteristic position and orientation data during typical K-9 behavioral motions such as walking, trotting, sitting, and turning. For better accuracy, the sensors were combined using an Extended Kalman Filter (EKF), which has been done for other GPS/INS integrated systems [1-3] and then examined to see if the position and orientation EKF outputs correctly portrayed the K-9 motions. Special tuning of the EKF was required due to the unique motion characteristics inherent in canines. However, the EKF was found to be effective in achieving relatively accurate position and orientation tracking results for the canine. Results show that the low-cost GPS/INS system can provide information about the canine’s motion, including the canine’s current position and heading.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	1768 - 1776
Cite this article:	Miller, Jeff, Bevly, David M., "Position and Orientation Determination for a Guided K-9," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 1768-1776.
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