Improved filter strategies for precise geolocation of unexploded ordnance using IMU/GPS integration

Journal of Navigation

Volumn 62, Issue 3, 2009, Pages 365-382

  Lee, Jong Ki ^a   Jekeli, Christopher ^a  

^a OHIO STATE UNIVERSITY   (United States)

Author keywords

IMU GPS; Unscented Kalman filter; Unscented particle filter; UXO

Indexed keywords

DETECTION SYSTEM; FILTER METHOD; FILTER STRATEGY; GAUSSIAN NOISE; GEOLOCATIONS; GROUND BASED; INERTIAL MEASUREMENT UNIT; INERTIAL SENSOR; LINEARIZED SYSTEMS; NON-GAUSSIAN; NON-LINEAR DYNAMICS; OPTIMAL INTEGRATION; PARTICLE FILTER; POSITION ACCURACY; RANGING SYSTEMS; SENSOR NOISE; STATISTICAL DISTRIBUTION; TEMPORAL RESOLUTION; TRADITIONAL FILTER; UNEXPLODED ORDNANCE; UNSCENTED FILTERS; UNSCENTED KALMAN FILTER; UNSCENTED PARTICLE FILTERS;

AIR FILTERS; BEARINGS (MACHINE PARTS); CELLULAR RADIO SYSTEMS; CONTROL THEORY; EXTENDED KALMAN FILTERS; GAUSSIAN NOISE (ELECTRONIC); INERTIAL NAVIGATION SYSTEMS; INTEGRATION; POSITION CONTROL; RANGE FINDING; SENSORS; UNITS OF MEASUREMENT;

NONLINEAR FILTERING;

GPS; KALMAN FILTER; SENSOR; STATISTICAL ANALYSIS;

EID: 70350455525     PISSN: 03734633     EISSN: 14697785     Source Type: Journal    
DOI: 10.1017/S0373463309005360     Document Type: Article

References (42)

1. Aggarwal, P., Gu, D., El-Sheimy, N. (2006), "Adaptive Particle Filter for INS/GPS Integration", ION GNSS 19th International Technical Meeting of the Satellite Division, 26-29 September 2006, pp.1606-1613.
2. Angermann, M., Khider, M., Robertson, P., Wendlandt, K. (2006), "Continuous location and direction estimation with multiple sensors using particle filtering", 2006 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp.92-97.
3. Arulampalam, M. S., Maskell, S., Gordon, N., and Clapp, T. (2001), "A tutorial on particle filters for online nonlinear/non-gaussian bayesian tracking", IEEE Trans. Signal Process. 50 (2001) (2), pp. 174-188.
4. Bell, T. (2005), "Geo-location Requirements for UXO Discrimination", Presented at SERDP & ESTCP Geolocation Workshop, 1-2 June 2005, Annapolis, MD.
5. Brown, R. G. and P. Y. C. Hwang. (1992), Introduction to Random Signals and Applied Kalman Filtering, Second Edition, John Wiley & Sons, Inc., 1992.
6. Clynch, J. R. (2001), Lecture note for FUNDAMENTALS OF GEOSPATIAL INFORMATION AND SERVICES, Naval Postgraduate School, Monterey, CA, 2001.
7. Farrell J. A., Barth M. (1998), The Global Positioning System and Inertial Navigation, McGraw-Hill Publishing, New York, 1998.
8. Gelb, A. (ed.) (1974), Applied Optimal Estimation. MIT Press, Cambridge, MA, 1974.
9. Godsill, S. J., Doucet, A., West, M. (2000), "Monte Carlo smoothing for nonlinear time series ". In Symposium on Frontiers of Time Series Modeling, Tokyo, Japan, 2000, Institute of Statistical Mathematics.
10. Gordon, N., Salmond, D., and Smith, A. F. M. (1993), "Novel approach to nonlinear and nongaussian state estimation", Proc. Inst. Elect. Eng., F, Vol 140, pp. 107-113. 1993.
11. Grewal, M. S., Andrews, A. P. (2001), Kalman Filtering: Theory and Practice Using MATLAB®. John Wiley & Sons, Inc., New York, 2001.
12. Grewal, M. S., Andrews, A. P. (1993), Kalman Filtering: Theory and Practice. John Wiley & Sons, Inc., New York, 1993.
13. Greenspan, R. L. (1996), GPS and inertial navigation. In Global Positioning System: Theory and Practice, vol.II, by B.W. Parkinson and J.J. Spilker (eds.), pp.187-220, American Institute of Aeronautics and Astronautics, Inc., Washington, D.C., 1996.
14. Grejner-Brzezinska, D. A. (2001). Direct Sensor Orientation in Airborne and Land-based Mapping Applications, 51 pp, June 2001. OSU report 461.
15. Gustafsson, F., Gunnarsson, F., Bergman, N., Forssell, U., Jansson, J., Karlsson, R., Nordlund, P.-J. (2002), "Particle filters for positioning, navigation, and tracking", IEEE Transactions on Signal Processing, 50(2), 425-437, 2002.
16. Hao, Y., Xiong, Z., Hu, Z. (2006), Particle Filter for INS In-Motion Alignment. 1st IEEE Conference on Industrial Electronics and Applications, May 2006, pp.1-6.
17. Haykin S. (2001), Kalman Filtering and Neural Networks, John Wiley & Sons, Inc., New York, 2001.
18. Jekeli, C. (2000), Inertial Navigation Systems with Geodetic Applications. Walter deGruyter, Inc., Berlin, 2000.
19. Jekeli, C., Lee, J. K. (2007), Technical Assessment of IMU-Aided Geolocation Systems for UXO detection and Characterization, Technical Report, August 2007, Strategic Environment R&D program (SERDP), Arlington, VA.
20. Julier, S. J. (1998), "A Skewed Approach to Filtering", Part of the SPIE Conference on Signal and Data Processing of Small Targets 1998, Orlando. Florida, April 1998.
21. Julier, S. J., Uhlmann, J. K. (1996), A general method for approximating nonlinear transformations of probability distributions. Technical report, Department of Engineering Science, University of Oxford, Oxford, England, 1996.
22. Julier, S. J., Uhlmann, J. K., Durrant-Whyte, H. F. (1995), "A new approach for filtering nonlinear systems". In Proceedings of the American Control Conference, Seattle, WA, pp.1625-1632, 1995.
23. Julier, S. J., Uhlmann, J. K., and Durrant-Whyte, H. F. (2000), "A new approach for nonlinear transformations of means and covariances in filters and estimators", IEEE Transactions on Automatic Control, 45(3), 477-482, 2000.
24. Kalman, R. E. (1960), "A New Approach to Linear Filtering and Prediction Problems", Transactions of the ASME-Journal of Basic Engineering, Vol. 82, Num. Series D, Pages 35-45, 1960.
25. Kim, D., etc. (2004), "Performance of Long-baseline Real-Time Kinematic Applications by Improving Tropospheric delay Modeling", Proceedings of The Institute of Navigation International Technical Meeting ION GNSS 2004, 21-24 September, Long Beach, California.
26. Komunjer, I. (2007), "Asymmetric power distribution: Theory and applications to risk measurement", Journal of Applied Econometrics, Vol: 22, No: 5, pp: 891-921, 2007.
27. Kraft, E. (2003), "A quaternion-based unscented Kalman filter for orientation tracking". Volume 1 of the Proceedings of the Sixth International Conference of Information Fusion, pp.47-54, 2003.
28. Kushner, H. J. (1967), "The dynamics of many physical systems are nonlinear and non-symmetric ", Dynamical equations for optimum non-linear filtering, Journal of Differential Equations, 2:179-190, 1967.
29. Naveaua, P., Gentonb, M. G., Shenc, X. (2005), "A Skewed Kalman Filter, Journal of Multivariate Analysis", 2005, 382-400.
30. Nelson, H. H., McDonald, J. R. (2001), "Multisensor Towed Array Detection System for UXO detection", IEEE T. on Geoscience and Remote sensing, Vol. 39, No 6, June 2001.
31. Reddy, G.; Herr, H. (2006), "Using a Gimbal to Calibrate Inertial sensors", Position, Location, And Navigation Symposium, 2006 IEEE/ION, April 25-27, 2006 Page(s):744-749.
32. Rogers, R. M. (2000), Applied mathematics in integrated navigation systems. American Institute of Aeronautics and Astronautics, Reston, VA, 2000.
33. Salychev, O. (1999), Inertial Systems in Navigation and Geophysics Bauman MSTU Press, Moscow, 1999.
34. Shin, E. H. (2005), Estimation Techniques for Low-Cost Inertial Navigation. Ph.D. Thesis, University of Calgary, UCGE Report 20219, 2005.
35. Simon, D. (2006), Optimal State Estimation: Kalman, H-infinity, and Nonlinear Approaches, John Wiley & Sons, New Jersey, 2006.
36. St-Pierre, M., Gingras, D. (2004), "Comparison between the unscented Kalman filter and the extended Kalman filter for the position estimation module of an integrated navigation information system". IEEE Intelligent Vehicles Symposium, 14-17 June 2004, pp.831-835.
37. Titterton, D. H., Weston, J. L. (2004), Strapdown Inertial Navigation Technology. Peter Peregrinus, Piscataway, New Jersey, 2004.
38. U. S. Army Corps of Engineers (2006). Innovative navigation systems to support digital geophysical mapping ESTCP #200129, Phase III APG demonstrations and Phase IV development. Final Report, 17 February 2006, U. S. Army Corps of Engineers, Engineering and Support Center, Huntsville, AL.
39. Van der Merwe, R., de Freitas, J. F. G., Doucet, A., and Wan, E. A. (2000), The Unscented Particle Filter. Technical report, Dept. of Engineering, University of Cambridge, 2000.
40. Van der Merwe, R., Wan, E. (2004), "Sigma-Point Kalman Filters for Integrated Navigation", Proceedings of the 60th Annual Meeting of the Institute of Navigation (ION), Dayton, Ohio, June 2004.
41. Wan, E. A., Van Der Merwe, R. (2001), The unscented Kalman filter. Chapter 7 in: Simon Haykin (Ed.), Kalman Filtering and Neural Networks, John Wiley & Sons, New York, 2001.
42. Yi, Y., Grejner-Brzezinska, D. A. (2006), "Tightly-coupled GPS/INS Integration Using Unscented Kalman Filter and Particle Filter ", ION GNSS 19th International Technical Meeting of the Satellite Division, 26-29 September 2006, pp.2182-2191.