This paper is concerned with the problem of target geo-location when using forward-looking vehicular-mounted sensors for landmine detection. Intermediate and downward-looking sensors may also be used, but the geo-location problem is most complex for the forward-looking sensor. A nonlinear state model for the vehicle is developed and a Kalman filter is combined with the available measurements to estimate the vehicle position and attitude. Knowledge of the sensors specifications along with information as to the location and orientation of the sensor on the vehicle combined with knowledge of the vehicle position and attitude make it possible for one to compute the sensor field-of-view or footprint. Given this, one can then analyze sensor frames and for any detected mines, convert their locations from sensor-frame coordinates to ground coordinates. The vehicle model, the Kalman filter equations, the coordinate transformations and other algorithms required for geo-locating any detected mines are presented and implemented in a simulation. Actual data collected at a test site is then used as input to the simulation. The simulation results indicate that for forward-looking sensors mine geo-location can in fact be accomplished. The actual position estimates are shown to have precision (ellipses of 0.9 confidence level) of less than 0.25 meters for the particular data used. Precise geo-location is one of the essential elements for mine neutralization.
Geo-location of mines detected via vehicular-mounted forward-looking sensors
2001
12 Seiten, 6 Quellen
Aufsatz (Konferenz)
Englisch
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