Design and implementation of unexploded bomb detection and localization system

Detection and localization of unexploded ordnance (UXO) on the battlefield is an urgent requirement for post-war cleanup. However, many existing research efforts have limited functionality and cannot comprehensively achieve the detection and localization of UXOs. In this paper, we propose a unmanned mobile system that combines both detection and localization capabilities for UXOs. The system consists of an unmanned tracked vehicle platform, a magnetic sensor array, a SLAM mapping system, a satellite positioning system, an environmental detection system, and a ground data processing terminal. By integrating the principles of magnetic sensors, visual sensors, and SLAM mapping, they complement each other in detecting and localizing UXOs. Experimental results demonstrate that the designed system can achieve real-time detection and localization of UXOs with strong practicality. It effectively avoids potential hazards to personnel and equipment during UXO detection and lays a foundation for future UXO detection and localization technologies.