A Kalman filter to estimate direction for automotive navigation

Author

Hoshino, Masatoshi ; Gunji, Yasuhiro ; Oho, Shigeru ; Takano, Kenji

Author_Institution

Res. Lab., Hitachi Ltd., Ibaraki, Japan

fYear

1996

fDate

8-11 Dec 1996

Firstpage

145

Lastpage

150

Abstract

A Kalman filter algorithm to estimate direction for automotive navigation is reported. An extended Kalman filter is used to combine a magnetic compass and a rate gyroscope and to compensate for the sensor errors; the result is an optimal estimate for heading direction. A mathematical model for magnetic compass errors caused by body magnetization and the body effect of magnetic material is proposed. An error model of the rate gyroscope is also established. Errors of both sensors are calibrated through a computer simulation. Finally, experimental navigation results are demonstrated

Keywords

Kalman filters; automobiles; compasses; error compensation; gyroscopes; navigation; position control; sensor fusion; automotive navigation; direction estimation; dynamics; error compensation; error model; extended Kalman filter; magnetic compass; rate gyroscope; sensor error; sensor fusion; Automotive engineering; Computer errors; Computer simulation; Gyroscopes; Magnetic materials; Magnetic sensors; Magnetic separation; Magnetization; Mathematical model; Navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-3700-X

Type

conf

DOI

10.1109/MFI.1996.572171

Filename

572171