Personal and Ubiquitous Computing manuscript No. (will be inserted by the editor) An Embedded System for Real-Time Navigation and Remote Command of a Trained Canine

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