Extended Kalman Filter Based Magnetic Guidance for Intelligent Vehicles

Guidance is one of the key problems in the research of intelligent vehicles. This paper, proposed a magnetic guidance method for intelligent vehicle based on EKF (extended Kalman filter), which fuses magnetic sensors with encoders. Anisotropic Magnetoresistive (AMR) sensors are used instead of Hall-effect sensors in the proposed magnetic sensing system due to their high sensitivity and low cost. An EKF is applied to eliminate the cumulative error with the dead-reckoning method. Two types of field experiments have been performed on the roads, and results demonstrate the effectiveness and reliability of the proposed method