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Ground penetrating radar mounted on micro aerial vehicle (MAV) is a promisingtool to assist humanitarian landmine clearance. However, the quality ofsynthetic aperture radar images depends on accurate and precise motionestimation of the radar antennas as well as generating informative viewpointswith the MAV. This paper presents a complete and automatic airborneground-penetrating synthetic aperture radar (GPSAR) system. The system consistsof a spatially calibrated and temporally synchronized industrial grade sensorsuite that enables navigation above ground level, radar imaging, and opticalimaging. A custom mission planning framework allows generation and automaticexecution of stripmap and circular (GPSAR) trajectories controlled above groundlevel as well as aerial imaging survey flights. A factor graph based stateestimator fuses measurements from dual receiver real-time kinematic (RTK)global navigation satellite system (GNSS) and inertial measurement unit (IMU)to obtain precise, high rate platform positions and orientations. Ground truthexperiments showed sensor timing as accurate as 0.8 us and as precise as 0.1 uswith localization rates of 1 kHz. The dual position factor formulation improvesonline localization accuracy up to 40% and batch localization accuracy up to59% compared to a single position factor with uncertain heading initialization.Our field trials validated a localization accuracy and precision that enablescoherent radar measurement addition and detection of radar targets buried insand. This validates the potential as an aerial landmine detection system.

Under the Sand: Navigation and Localization of a Micro Aerial Vehicle for Landmine Detection with Ground Penetrating Synthetic Aperture Radar