GPR antenna position and orientation estimation using strapdown inertial navigation

Friedrich Roth; Gary R. Olhoeft

doi:10.1117/12.383486

27 April 2000 GPR antenna position and orientation estimation using strapdown inertial navigation

Friedrich Roth, Gary R. Olhoeft

Proceedings Volume 4084, Eighth International Conference on Ground Penetrating Radar; (2000) https://doi.org/10.1117/12.383486
Event: 8th International Conference on Ground Penetrating Radar, 2000, Gold Coast, Australia

Abstract

This paper discusses the possible use of strapdown inertial navigation for real-time ground penetrating radar (GPR) antenna position and orientation estimation along arbitrary three-dimensional acquisition lines. Strapdown inertial navigation theory has been studied extensively in the literature for aircraft, missile and space navigation. Here, we give an overview of the theory as it applies to the antenna position and orientation problem. This includes the definition of the relevant coordinate frames and attitude parameters, a discussion of the measured acceleration and angular velocity, and a description of the four primary computational tasks pertinent to strapdown inertial navigation. These are the initial alignment of the system, the integration of angular velocity into attitude (attitude updating), the acceleration transformation and integration into velocity (velocity updating) and the integration of velocity into position (position updating). The key elements of using a low-grade versus a high-grade inertial measurement unit (IMU) are pointed out. The actual performance of a commercially available low-grade IMU is evaluated based on a series of navigation experiments. The experimental results show that the tested IMU is far from being accurate enough for completely self-contained antenna positioning and that the precise calibration for scale factors, biases and axis misalignments is vital. The observed orientation accuracy (error of less than 1 degree after 60 seconds) suggests the integration of the tested IMU with odometry, extending the applicability of the latter to environments with topography or where changing of the profile direction due to obstacles is necessary. Another possible use of low-grade IMUs might be for more sophisticated 'rubber sheeting' techniques.

Citation Download Citation

Friedrich Roth and Gary R. Olhoeft "GPR antenna position and orientation estimation using strapdown inertial navigation", Proc. SPIE 4084, Eighth International Conference on Ground Penetrating Radar, (27 April 2000); https://doi.org/10.1117/12.383486

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