Automatic Guidance System Based on Sensor Fusion with Geomagnetic Direction Sensor and Gyroscope

Abstract

In this paper, we proposed the dynamic compensation method for a geomagnetic warp and a gyro drift for constructing the adaptive automatic guidance system. Temporal and spatial geomagnetic variation makes the measurement error of a geomagnetic direction sensor(GDS) larger. On the other hand, drift error can not be ignored for a fiber optic gyroscope(FOG). Therefore, there is a limitation to develop the robust guidance system with fixed desired heading direction which used in conventional system. To resolve these problem, manual operation was carried out before automatic operation and initial desired direction was acquired. In the research, a desired direction and a heading direction was modified gradually by means of weighting by variance of a GDS and FOG during the automatic operation. To evaluate the accuracy and robustness of the developed system, the guidance system using the GDS alone and that using an adaptive guidance system were compared by a field test. From the test, it was confirmed that the accuracy and robustness improved by utilizing the proposed guidance system.