Abstract
The integrated navigation systems are widely used in all aspects of life, i.e. in various civilian and military applications. In the last twenty years, most of the attention in this area has been directed toward the use of low-cost sensors, which are characterized by the low accuracy. Therefore, many algorithms have been developed in order to implement inertial sensor errors damping, which are based on the integration of inertial sensors with the external sources of information (GPS receivers, magnetometers, barometers,...) or mathematical models developed for self damping of inertial sensors errors. This paper propose specific method of gyroscope drift compensation by using PI controller based on the magnetometer measurements, and also the method of errors compensation in the horizontal channel of navigation system by using the adaptive control signals. The experimental results obtained for the here proposed solutions, which are presented in this paper, confirmed the possibility of successful application of these solutions in the real-world environment.
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