Integrated Navigation System Based on Differential Magnetic Compass and GPS

Author

Hao Zhenhai ; Huang Shengguo

Author_Institution

Sch. of Civil Aviation, Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2009

fDate

19-20 Dec. 2009

Firstpage

1

Lastpage

4

Abstract

In order to solve the heading error problem for autonomous navigation of unmanned vehicles in urban area, the concept of the differential magnetic compasses (DMC) was proposed. An improved algorithm based on the DMC for robust heading value was proposed. An integrated navigation system based on the DMC and GPS was designed. An adaptive algorithm for heading information based on the federated Kalman filter (FKF) was investigated. The agreement of the theoretical analysis with the experimental results shows that the integrated navigation system can offer robust heading information from suffering the error accumulation of gyroscope and the magnetic interference of compass. The reliability and the precision of the integrated navigation system are also improved.

Keywords

Global Positioning System; Kalman filters; adaptive filters; aerospace control; compasses; gyroscopes; remotely operated vehicles; GPS; Global Positioning System; adaptive filter algorithm; differential magnetic compass; federated Kalman filter; gyroscope; integrated navigation system; magnetic interference; theoretical analysis; unmanned vehicles; Adaptive algorithm; Global Positioning System; Information analysis; Magnetic analysis; Magnetic separation; Mobile robots; Navigation; Remotely operated vehicles; Robustness; Urban areas;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4994-1

Type

conf

DOI

10.1109/ICIECS.2009.5364140

Filename

5364140