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

• Published in: Proceedings of 2014 IEEE Chinese Guidance, Navigation and Control Conference pp. 2144 - 2149
• Main Authors: Chunni Feng, Xiaoping Hu, Xiaofeng He, Bing Luo, Jingyu Zhang, Hao Zhang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.08.2014
• Subjects: Calibration; Equations; Integrated Navigation System; Kalman Filter; Magnetic field measurement; Magnetic fields; Magnetometers; Mathematical model; MIMU/BD; Navigation; Three-Axis Magnetometer
• ISBN: 1479947008; 9781479947003
• DOI: 10.1109/CGNCC.2014.7007506

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.