Guided K-9 Tracking Improvements Using GPS, INS, and Magnetometers

A GPS/INS sensor suite, including magnetometers, was attached by a vest to a canine (K-9) in order to attain characteristic position and orientation data during typical canine behavioral motion. For better accuracy, the sensors were combined using a hybrid Extended Kalman Filter (EKF) and then examined to see if the orientation EKF output correctly portrayed the canine motions when magnetometers were present and GPS outages occurred. Special tuning of the EKF was required due to the unique motion characteristics inherent in canines. However, the EKF was found to be effective in achieving accurate orientation tracking results for the canine during GPS outages. Results show that the low-cost GPS/INS system with magnetometers can provide information about the canine's motion, including the canine's current position and heading.