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Extended Kalman filtering and fixed interval smoothing for the vehicle-mounted mine/UXO detector system

A differential Global Position System (DGPS) is one of the capabilities that has been used in Countermine testing and operation by the vehicular mounted mine detector system to record the locations of the detected mines. During the system's data acquisition, the DGPS may incur the measurement errors due to measurement noises and other sources of inaccuracy that result in mis-positioning of the detected mines. The position errors, however, could be reduced if the Kalman filtering algorithm is implemented in the system. To optimally reduce these errors, the fixed- interval smoother could also be used if a small interval of processing time is allowed during the countermine testing or operation via the use of standoff radar or the forward looking IR sensor. These improvements will enhance ground registration of the candidate mines. Thus, data of the same mine that have been collected from multiple sensor or from the multiple looks by a single sensor can be associated correctly. The correct data association will provide better data fusion that improves the probability of detection and the false alarm rate. Kalman filtering and fixed-interval smoothing algorithms are developed and implemented, and the results of their applications to real test data are presented.