Integration is a current trend in navigation system research. MIMU (Micro Inertial Measurement Unit) is compact, cheap, low-power, and highly reliable. BD (BeiDou System) is a satellite navigation system with our own independent intellectual property right. Integrating MIMU with BD can lessen MIMU's error accumulation and BD's low robustness, thus making MIMU/BD an ideal integrated navigation system. However, MIMU/BD has poor heading error observability. A three-axis magnetometer (TAM) can measure earth's magnetic field to obtain carrier heading. This paper focuses on improving heading accuracy of MIMU/BD integrated navigation system with TAM aided. TAMs are used to calculate the heading angle. Calibrating TAMs using a RLS algorithm with a forgetting factor is introduced. An integrated navigation algorithm based on Kalman Filter is used. Vehicle experiments show that this method efficiently improves the heading accuracy.


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    Title :

    Research on MIMU/BD integrated navigation with three-axis magnetometer aided


    Contributors:
    Feng, Chunni (author) / Hu, Xiaoping (author) / He, Xiaofeng (author) / Luo, Bing (author) / Zhang, Jingyu (author) / Zhang, Hao (author)


    Publication date :

    2014-08-01


    Size :

    260846 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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