This paper discusses the hardware and algorithmic details of an integrated navigation systems that fuses the information from an inexpensive Inertial Measurement Unit, a magnetometer triad and a Global Positioning System receiver. Methods for modeling sensor and system errors are presented. An observability analysis of the system shows that observability is conditional when only GPS position fixes are used to aid the inertial sensors. With the addition of a magnetometer triad, it is shown that the system becomes unconditionally observable.
|Original language||English (US)|
|State||Published - Jan 1 2003|
|Event||2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003 - San Diego, CA, United States|
Duration: Sep 15 2003 → Sep 18 2003
|Other||2nd AIAA "Unmanned Unlimited" Conference and Workshop and Exhibit 2003|
|City||San Diego, CA|
|Period||9/15/03 → 9/18/03|