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Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints
المؤلفون المشاركون
Won, Daehee
Ahn, Jongsun
Sung, Sangkyung
Heo, Moonbeom
Im, Sung-Hyuck
Lee, Young Jae
المصدر
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-08-10
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints.
The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements.
To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints (NHCs) are introduced to increase the correlation between the velocity and the attitude equation.
The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust.
Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries.
The magnetometer and NHCs are combined with an extended Kalman filter.
An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs.
Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer.
Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Won, Daehee& Ahn, Jongsun& Sung, Sangkyung& Heo, Moonbeom& Im, Sung-Hyuck& Lee, Young Jae. 2015. Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints. Journal of Sensors،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070121
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Won, Daehee…[et al.]. Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints. Journal of Sensors No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1070121
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Won, Daehee& Ahn, Jongsun& Sung, Sangkyung& Heo, Moonbeom& Im, Sung-Hyuck& Lee, Young Jae. Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints. Journal of Sensors. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070121
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1070121
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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