The Double IMU Measurement for the Precise UXO Geolocation System

J.K. Lee, C. Jekeli

Abstract:	A precising geolocation system combining two tacticalgrade inertial sensors (HG1700 and HG1900) and a geodetic global positioning system (GPS) which were mounted on the vehicle-towed and a cart-based NRL UXO detection platform has been tested at the ARMY UXO test area. Three steps of optimal data processing procedure were employed to satisfy the precision position needs for robust UXO detection and discrimination. First, a wavelet de-noising method was applied to eliminate the white noise component of raw IMU data. Second, the Extended Kalman filter with adaptive filtering was used for the IMU/GPS integration. Finally, a wave correlation filter was applied to the two simultaneous IMU solutions in order to extract the common components in the frequency domain. The field test results show that the standard deviation of position error with the wave correlation filter was improved compared to the single IMU solution in both vehicle-towed and cart-based systems.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	2477 - 2482
Cite this article:	Lee, J.K., Jekeli, C., "The Double IMU Measurement for the Precise UXO Geolocation System," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 2477-2482.
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