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An embedded system for real-time navigation and remote command of a trained canine

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Abstract

This paper demonstrates a capability to use a developed embedded sensor suite to consistently track the position, motion behavior, and orientation of a canine. Quantifying and recording canine position and motion in real time provides a useful mechanism for objective analysis of canine trials and missions. We provide a detailed description of the sensor equipment, including the global position satellite (GPS) receiver and antenna, accelerometers, gyroscopes, and magnetometers. Sensors beyond GPS provide for higher frequency readings, a tolerance to GPS loss, and the ability to characterize canine orientation. We demonstrate integrating sensor measurements using an Extended Kalman Filter (EKF) to estimate the canine position and velocity during temporary GPS loss. The system supports the remote actuation of tone and vibration commands and reports commands in real time alongside sensor data. This extends the range at which a handler could monitor a canine and allows enhanced trial analysis using raw sensor data and visualizations. To illustrate the system capabilities, we performed a case study in the remote command and navigation of a trained canine by a professional trainer. The results of this case study are analyzed in terms of canine trial success, motion behavior analysis, and in the context of simulated GPS losses. We discuss other potential applications of the system in autonomous canine command, canine motion analysis, and non-canine applications.

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Notes

  1. The GPS receiver technically outputs course, which is heading plus lateral slip. However, slip can be neglected in many applications, as it is here.

  2. GPS measurements for position and velocity are used here as a surrogate for true position when calculating the “error” of estimates during dead reckoning

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Authors and Affiliations

  1. Department of Computer Science and Software Engineering Shelby Center, Auburn University, Auburn, AL, USA

    Winard R. Britt & John A. Hamilton Jr

  2. Department of Mechanical Engineering Ross Hall, Auburn University, Auburn, AL, USA

    Jeffrey Miller & David M. Bevly

  3. Canine and Detection Research Institute, McClellan, AL, USA

    Paul Waggoner

Authors
  1. Winard R. Britt
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  2. Jeffrey Miller
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  3. Paul Waggoner
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  4. David M. Bevly
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  5. John A. Hamilton Jr
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Corresponding author

Correspondence to Winard R. Britt.

Additional information

This work was funded by the Office of Naval Research YIP grant N00014-06-1-0518.

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Britt, W.R., Miller, J., Waggoner, P. et al. An embedded system for real-time navigation and remote command of a trained canine. Pers Ubiquit Comput 15, 61–74 (2011). https://doi.org/10.1007/s00779-010-0298-4

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  • DOI: https://doi.org/10.1007/s00779-010-0298-4

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