<title>System for performing site characterization for test ranges containing unexploded ordnance</title>

摘要

Wright Laboratory has been tasked by the Naval Explosive Ordnance Technical Division to develop robotic platforms to perform characterization of areas set aside for ordnance testing. These areas require the identification and removal of the unexploded ordnance before they can be utilized for safe, productive use. The characterization task is performed by autonomously sweeping a designated area with the autonomous tow vehicle (ATV). The ATV tows the multiple sensor platform containing a magnetometer array and a ground penetrating radar. The ATV provides the time and position stamp for sensor data. Analysts then review the post survey sensor data to determine ordnance position. The ATV makes use of several advanced technologies. A hybrid navigation and guidance system using an external Kalman filter delivers vehicle position based on information from a real time centimeter level differential global positioning system and a strapped down laser gyro inertial navigation system. A vision-based obstacle avoidance system helps to account for unknown obstacles during survey. Sophisticated path planning algorithms, and an intelligent software architecture for planning and behavior provide a measure of autonomy. A data collection system controls the functions of the various sensors used for the characterization process and manipulates the data stream to conform to an open ASCII data format and stores it to rugged removable hard disks for later analysis.