The precise INS/GPS geolocation of a vehicle-towed UXO detection system

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.