Coordinates Determination System Based on GPS/IMU Positioning and Acoustic Ranging

"The objective of this project is to design a Coordinates Determination System Based on GPS/IMU Positioning and Acoustic Ranging. This system will provide accurate coordinates of the unexploded ordnance (UXO) in rough terrain where the GPS signals areblocked. AGNC's product, the AGNCT-2000CMIMU/GPS Palm NavigatorTM is used to provide accurate position reference at three or more points where GPS signals are available. Acoustic ranging is used to transfer the accurate positions to the handheld sensorunit that is used to detect the UXO. The accurate coordinates of the UXO are thus determined by the Palm NavigatorTM provided positions and acoustically determined ranges. In the Phase I of this project, we first perform the task of system configurationdesign for acoustic ranging. A correlator is used to estimate the time delay of an echoed acoustic signal. A set of orthogonal pseudo random codes are used to identify echoed signals from different transponders. Then the signal modulation scheme isdesigned. Next, acoustic channel circuit design is performed and implementation methods are investigated. The integration of the transponder based on the embedded GPS receiver and GPS/IMU integration is carried out. Finally the Coordinates DeterminationSystem is tested and evaluated through simulation and laboratory testing. The Coordinates Determination System Based on GPS/IMU Positioning and Acoustic Ranging developed in this project finds wide app