Title :
A Kalman filter to estimate direction for automotive navigation
Author :
Hoshino, Masatoshi ; Gunji, Yasuhiro ; Oho, Shigeru ; Takano, Kenji
Author_Institution :
Res. Lab., Hitachi Ltd., Ibaraki, Japan
Abstract :
A Kalman filter algorithm to estimate direction for automotive navigation is reported. An extended Kalman filter is used to combine a magnetic compass and a rate gyroscope and to compensate for the sensor errors; the result is an optimal estimate for heading direction. A mathematical model for magnetic compass errors caused by body magnetization and the body effect of magnetic material is proposed. An error model of the rate gyroscope is also established. Errors of both sensors are calibrated through a computer simulation. Finally, experimental navigation results are demonstrated
Keywords :
Kalman filters; automobiles; compasses; error compensation; gyroscopes; navigation; position control; sensor fusion; automotive navigation; direction estimation; dynamics; error compensation; error model; extended Kalman filter; magnetic compass; rate gyroscope; sensor error; sensor fusion; Automotive engineering; Computer errors; Computer simulation; Gyroscopes; Magnetic materials; Magnetic sensors; Magnetic separation; Magnetization; Mathematical model; Navigation;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-3700-X
DOI :
10.1109/MFI.1996.572171
