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.
Similar content being viewed by others
Notes
The GPS receiver technically outputs course, which is heading plus lateral slip. However, slip can be neglected in many applications, as it is here.
GPS measurements for position and velocity are used here as a surrogate for true position when calculating the “error” of estimates during dead reckoning
References
Bevly DM (1999) Evaluation of a blended dead reckoning and carrier phase differential GPS system for control of an off-road vehicle. In: ION GPS, pp 2061–2069
Bevly DM (2004) Global positioning system (GPS): a low-cost velocity sensor for correcting inertial sensor errors on ground vehicles. J Dyn Syst Meas Control 126:255–264
Britt W, Bevly DM, Dozier G (2008) Automated modeling of the guidance of a K-9. In: Proceedings of the American control conference, pp 2467–2474
Brown S (2006) Stealth sharks to patrol the high Seas. New Scientist, pp 30–31
Bureau of Diplomatic Security: a nose for trouble: how the state department uses bomb detection dogs (2004). Web citation http://www.state.gov/m/ds/rls/33087.htm
Cornou C, Lundbye-Christensen S (2008) Classifying sows’ activity types from acceleration patterns: an application of the multi-process Kalman filter. Appl Anim Behav Sci 111:262–273
Correll N, Schwager M, Rus D (2008) Social control of herd animals by integration of artificially controlled congeners. In: Proceedings of the 10th international conference on simulation of adaptive behavior (SAB), pp 437–447
Curtis P, Cupp D (1989) Dogs on the case: search dogs who help save lives and enforce the law. Lodestar books
Daily R, Bevly D (2004) The use of gps for vehicle stability control systems. IEEE Trans Ind Electron 51(2):270–277. doi:10.1109/TIE.2004.824851
Ferworn A, Sadeghian A, Barnum K, Ostrom D, Rahnama H, Woungang I (2007) Rubble search with canine augmentation technology. In: IEEE international conference on system of systems engineering, 2007. SoSE ’07, pp 1–6. doi:10.1109/SYSOSE.2007.4304328
Gabaglio V (2003) GPS/INS integration for pedestrian navigation. Ph.D. thesis
Gillette RL, Angle TC (2008) Recent developments in canine locomotor analysis: a review. Veterinary J 178:165–176
Godha S (2006) Performance evaluation of low cost MEMS-based IMU integrated with GPS for land vehicle navigation application. Master’s thesis
Gomes W, Perez D, Catipovic J (2006) Autonomous shark tag with neural reading and stimulation capability for open-ocean experiments. Eos Trans Am Geophys Union 87(36)
Hill A, Slamka A, Morton Y, Miller M, Campbell J (2007) A real-time position, velocity, and physiological monitoring and tracking device for equestian and race training. In: Proceedings of the ION GNSS
Ladetto O, Gabaglio V, Merminod B (2001) Combining gyroscopes, magnetic compass and GPS for pedestrian navigation. In: Proceedings of the international symposium on kinematic systems in geodesy, geomatics, and navigation, pp 205–213
Miller J, Bevly DM (2007) Position and orientation determination for a guided K-9. In: Proceedings of the 20th international technical meeting of the satellite division of the institute of navigation ION GNSS 2007, pp 1768–1776
Miller J, Bevly DM (2009) Determination of pitch effects in guided K-9 tracking. In: Proceedings of the JSDE/ION JNC
Miller J, Bevly DM (2009) Guided K-9 tracking improvements using GPS, INS, and magnetometers. In: Proceedings of the ION ITM
Moreau M, Siebert S, Buerkert A, Schlecht E (2009) Use of a tri-axial accelerometer for automated recording and classification of goats’ grazing behaviour. Appl Animal Behav Sci, In Press, corrected proof. doi: 10.1016/j.applanim.2009.04.008. http://www.sciencedirect.com/science/article/B6T48-4WBB6TP-1/2/af33be442803a939109fbd72dfdb505c
Rabbit semiconductor: rabbit products. World wide web electronic publication (2008). http://www.rabbit.com/products/
Ribeiro C, Ferworn A, Denko M, Tran J, Mawson C (2008) Wireless estimation of canine pose for search and rescue. In: System of systems engineering, 2008. SoSE ’08. IEEE international conference on, pp 1–6. doi:10.1109/SYSOSE.2008.4724172
Ryu J, Gerdes JC (2004) Integrating inertial sensors with GPS for vehicle control. J Dyn Syst Meas Control 126:243–254
Schwager M, Detweiler C, Vasilescu I, Anderson DM, Rus D (2008) Data-driven identification of group dynamics for motion prediction and control. J Field Robot 25(6–7):305–324
Shandong University of Science and Technology: SDUST created remote-controlled pigeon. World wide web electronic publication (2007). http://www.sdkd.net.cn/en/news_show.php?id=65
Song W, Chai J, Han T, Yuan K (2006) A remote controlled multimode micro-stimulator for freely moving animals. Acta Physiologica Sinica 58(2):183–188
Stengel R (1994) Optimal control and estimation. Dover Publications, New York
Talwar SK, Xu S, Hawley ES, Weiss SA, Moxon KA, Chaplin JK (2002) Rat navigation guided by remote control. Nature 417(2):37–38
Upadhyay T, Cotterhill S, Deaton A (2003) Autonomous GPS/INS navigation experiment for space transfer vehicle. IEEE Trans Aerosp Electron Syst 29:772–785
Watanabe S, Izawa M, Kato A, Ropert-Coudert Y, Naito Y (2005) A new technique for monitoring the detailed behaviour of terrestial animals: a case study with the domestic cat. Appl Animal Behav Sci 94:117–131
XSens: XSens 3D Motion tracking. World wide web electronic publication (2009). http://www.xsens.com/en/general/mti
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was funded by the Office of Naval Research YIP grant N00014-06-1-0518.
Rights and permissions
About this article
Cite this article
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
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00779-010-0298-4