Magnetometer Aided Inertial Navigation System: MODELING AND SIMULATION OF A NAVIGATION SYSTEM WITH AN IMU AND A MAGNETOMETER - Softcover

Kayasal, U?ur

Softcover

ISBN 10: 3838317408 ISBN 13: 9783838317403

Publisher: LAP Lambert Academic Publishing, 2009

Synopsis

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.

About this title

About the Author

Ugur Kayasal (Member, ION) received the B.Sc degree in Mechanical Engineering in 2004, B.Sc degree in Aerospace Engineering in 2005 and M.Sc degree in Mechanical Engineering in 2007, from Middle East Technical University. His main research areas are inertial navigation systems and estimation theory. He is married with a daughter.

Edition details

• Publisher: LAP Lambert Academic Publishing
• Publication date: 2009
• Language: English
• ISBN 10: 3838317408
• ISBN 13: 9783838317403
• Binding: Paperback
• Number of pages: 168