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Magnetometer Aided Inertial Navigation System

Uur Kayasal

ISBN 10: 3838317408 / ISBN 13: 9783838317403
Editorial: LAP Lambert Academic Publishing
Nuevos Condición: New Encuadernación de tapa blanda
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Paperback. 168 pages. Dimensions: 8.5in. x 5.9in. x 0.6in.In this book, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived; measurement equations of magnetometer for Kalman filtering are v developed; the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms. This item ships from multiple locations. Your book may arrive from Roseburg,OR, La Vergne,TN. N° de ref. de la librería 9783838317403

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Título: Magnetometer Aided Inertial Navigation ...

Editorial: LAP Lambert Academic Publishing

Encuadernación: Paperback

Condición del libro: New

Tipo de libro: Paperback

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Sinopsis:

In this book, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived; measurement equations of magnetometer for Kalman filtering are v developed; the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

About the Author:

Ugur Kayasal (Member, ION) received the B.Sc degree in Mechanical Engineering in 2004, B.Sc degree in Aerospace Engineering in 2005 and M.Sc degree in Mechanical Engineering in 2007, from Middle East Technical University. His main research areas are inertial navigation systems and estimation theory. He is married with a daughter.

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