Performance Improvement of Inertial Navigation System by Using Magnetometer with Vehicle Dynamic Constraints
Joint Authors
Won, Daehee
Ahn, Jongsun
Sung, Sangkyung
Heo, Moonbeom
Im, Sung-Hyuck
Lee, Young Jae
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-08-10
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070121