Title :
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
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;
Conference_Titel :
Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4994-1
DOI :
10.1109/ICIECS.2009.5364140
