Guided K-9 Tracking Improvements using GPS, INS, and Magnetometers

Jeff Miller and David M. Bevly

Abstract:	A GPS/INS sensor suite, including magnetometers, was attached by a vest to a canine (K-9) in order to attain characteristic position and orientation data during typical canine behavioral motion. For better accuracy, the sensors were combined using a hybrid Extended Kalman Filter (EKF) and then examined to see if the orientation EKF output correctly portrayed the canine motions when magnetometers were present and GPS outages occurred. 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 accurate orientation tracking results for the canine during GPS outages. Results show that the low-cost GPS/INS system with magnetometers can provide information about the canine’s motion, including the canine’s current position and heading.
Published in:	Proceedings of the 2009 International Technical Meeting of The Institute of Navigation January 26 - 28, 2009 Disney's Paradise Pier Hotel Anaheim, CA
Pages:	1038 - 1047
Cite this article:	Miller, Jeff, Bevly, David M., "Guided K-9 Tracking Improvements using GPS, INS, and Magnetometers," Proceedings of the 2009 International Technical Meeting of The Institute of Navigation, Anaheim, CA, January 2009, pp. 1038-1047.
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