Abstract
This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore targeting accurate attitude estimation is considered a significant contribution to the overall navigation error. A better estimation of the body attitude estimates leads to more accurate position and velocity estimation. For that end, the aim of this research is to exploit the magnetometer and accelerometer data in the attitude estimation technique. In this paper, a Scaled Unscented Kalman Filter (SUKF) based on the quaternion concept is designed for the INS/GPS/Mag integrated navigation system under large attitude error conditions. Simulation and experimental results indicate a satisfactory performance of the newly developed model.
Highlights
The principal software functions executed in the Inertial Navigation System (INS) computer are the angular rate and linear acceleration signals
All these results indicate that the algorithm Q-Scaled Unscented Kalman Filter (SUKF) proposed is able to provide a reliable information of the inertial navigation states when it is aided by Global Positioning System (GPS) data and magnetometer data whatever the initial values on the attitude angles
Since the behavior and the accuracy of an INS navigation algorithm are strongly influenced by INS errors, this paper develops an integrating Inertial Navigation aided by GPS and magnetometer measurements for large attitude errors using quaternion parameterization of the attitude, velocity and position
Summary
The principal software functions executed in the Inertial Navigation System (INS) computer are the angular rate and linear acceleration signals. The supporting sensors (GPS and magnetometers) provide the earth-fixed position, velocity, and earth magnetic field measurements which the filter uses to calculate corrections to the trajectory state and estimate inertial sensor errors. This fusion of multiple sensors allows for a wide variety of sensor characterizations including bias, scale factor, and unit mounting misalignment. An alternative formulation for the square root version of the UKF is developed and presented in this paper for the integrated INS navigation, GPS and magnetometer This version is based on a generalized unconstrained three component attitude-error vector to represent the quaternion error vector, where no parameter conversion is required, such as transformation between quaternions and Rodrigues parameters. This means primarily that GPS positions and velocities information are used as inputs to the navigation filter rather than pseudo-ranges measurements
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