Vehicle magnetic field compensation method using UKF

Exact measurements of geomagnetic field is very important for navigation. In general, magnetometers fixed on the vehicles are prone to be disturbed by the magnetic field of the vehicles. In order to improve the navigation precision, magnetic field of vehicles must be compensated. In this paper, a new compensation method is proposed. Through analysis of the relationships between measurements and truth of geomagnetic field, a new measurement model using vector measurements and scalar truth is derived, and an algorithm based on UKF is used to evaluate the unknown parameters of the model. Finally computer simulation is carried out to assess the validity of the method. The results show that the proposed method is quick and effective for the compensation of vehicle magnetic field.