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  • Open Daily: 10am - 10pm
    Alley-side Pickup: 10am - 7pm

    3038 Hennepin Ave Minneapolis, MN
    612-822-4611

Open Daily: 10am - 10pm | Alley-side Pickup: 10am - 7pm
3038 Hennepin Ave Minneapolis, MN
612-822-4611
Magnetometer Aided Inertial Navigation System

Magnetometer Aided Inertial Navigation System

Kayasal, U. Ur

Paperback

Technology & Engineering

ISBN10: 3838317408
ISBN13: 9783838317403
Publisher: Lap Lambert Academic Pub
Published: Nov 11 2009
Pages: 168
Weight: 0.56
Height: 0.39 Width: 6.00 Depth: 9.00
Language: English
In this book, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived; measurement equations of magnetometer for Kalman filtering are v developed; the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

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