Transportable Manned and Robotic Digital Geophysical Mapping Tow Vehicle, Phase 1.

摘要

This project integrated an innovative robotic tow vehicle with industry standard Digital Geophysical Mapping (DGN) sensors and advanced geo- location positioning equipment to autonomously map target areas. The principle DGM tow vehicle is the Segway Robotic Mobility Platform (RMP) 4 wheel RMP 400 ATV configuration. Robot positioning is provided to centimeter accuracy by a commercial integrated DGPS/INS solution, the Novatel SPAN system with the high precision Honeywell HG1700 AG58 gyro. Trailer DGM sensor location was determined by geometric calculations based on tow bar hitch angles (as indicated by an optical encoder) and the fixed tow bar lengths and alternately by a second DGPS placed on the trailer. The demonstration proved that a robotic solution provides a more precise path following, a more consistent speed and greater productivity than by man towed equipment. The Phase I demonstration focused on integration and path following to precisely replicate target coverage for multiple runs with multiple sensors. The demonstration was performed at the Aberdeen Proving Grounds Standard UXO Demonstration Sites at the Calibration Lanes during May 14-22, 2007. The mass mapping demonstration was performed in the Open field to gain productivity, performance and costing data. We mapped the Calibration Grid- 14 times for 1.8 Hectare (10- coverage for the RMP 400, 3 for the manned and 1 with the XT). The Open Field was mapped as 5 grids by the RMP 400 for 2.3 Hectare with Grid 4 (.2 Hectare) mapped by both manned and the XT to gauge performance and productivity.