Abstract
Many traffic occasions such as tunnels, subway stations and underground parking require accurate and continuous positioning. Navigation and timing services offered by the Global Navigation Satellite System (GNSS) is the most popular outdoor positioning method, but its signals are vulnerable to interference, leading to a degraded performance or even unavailability. The combination of magnetometer and Inertial Measurement Unit (IMU) is one of the commonly used indoor positioning methods. Within the proposed mobile platform for positioning in seamless indoor and outdoor scenes, the data of magnetometer and IMU are used to update the positioning when the GNSS signals are weak. Because the magnetometer is susceptible to environmental interference, an intelligent method for calculating heading angle by magnetometer is proposed, which can dynamically calculate and correct the heading angle of the mobile platform in a working environment. The results show that the proposed method of calculating heading angle by magnetometer achieved better performance with interference existence. Compared with the uncorrected heading angle, the corrected accuracy results could be improved by 60%, and the effect was more obvious when the interference was stronger. The error of overall positioning trajectory and true trajectory was within 2 m.
Highlights
Providing pedestrians and vehicles with continuous positioning is a challenging but important topic [1,2,3]
The heading angle ψ in Equation (1) is composed of these three parameters: the initial direction ψ provided by the magnetometer, the gyroscope provides rotation ψ, and direction the magnetometer, the gyroscope a rotationaangle ψω,angle and the m provided initial ψ direction ψ byprovided by the magnetometer, theprovides gyroscope provides a rotation angle angle ψ, and the angle difference ψ between magnetic north and true north
Three main points are considered: First, a method to dynamically calculate designed to acquire the data of Global Navigation Satellite System (GNSS), magnetometer and Inertial Navigation System (INS) for positioning in seamless and correct the heading angle is proposed, which improves the accuracy of positioning by reducing indoor/outdoor scenes
Summary
Providing pedestrians and vehicles with continuous positioning is a challenging but important topic [1,2,3]. Based on the distribution characteristics of the geomagnetic field and the heading angle calculation principle, this paper proposes a dynamic calculation and correction method for the heading angle of the magnetometer navigation system. The heading angle to the distribution characteristics of the magnetic field at the two adjacent moments, an additional canformula be solved combining the above formulas. This method effectively realizes thecan correction andby forby solving the heading angle is obtained. This method effectively realizes correction and compensation theofoutdoor positioningand adopts the method, whichofuses and INS dataIninaddition, combination with the magnetometer improves the accuracy the GNSS navigation system.
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