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Estimation of heading using magnetometer and GPS.
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
2013 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Bäringsestimering med hjälp av magnetometer och GPS. (Swedish)
Abstract [en]

One important part of inertial navigation is the estimation of the direction relative to the Earth’s geographic North Pole, the so called heading. In this project, a gyroscope and an accelerometer were used together in an Extended Kalman Filter with a quaternion as the state space variable, representing the attitude. Given the attitude of the system, measurements from a magnetometer were rotated to a horizontal coordinate frame in order to calculate the direction toward Earth’s magnetic North Pole. Comparing this direction with the angle toward the Geographic North Pole given by a GPS, the local magnetic declination was estimated with the purpose of correcting the heading in the future. Different methods for detecting disturbances on the magnetometer in order to automatically decide when it is to be trusted was discussed and evaluated. Routines for easily performing sensor calibration was created. The outcome of the project was a well working attitude estimation, simply performed calibration routines and a set of methods working together to detect magnetometer disturbances. 

Abstract [sv]

En viktig del av ett tröghetsnavigeringssystem är skattningen av riktningen relativt jordens geografiska nordpol, den så kallade bäringen. I detta projekt användes ett gyroskop och en accelerometer tillsammans i ett Extended Kalman filter med en quaternion som tillståndsvariabel för att representera attityden. Givet systemets attityd roterades mätningar från en magnetometer till ett horisontellt koordinatsystem för att beräkna riktningen mot magnetiska nordpolen. Genom att jämföra denna riktning med vinkeln mot geografiska nordpolen kunde den lokala magnetiska deklinationen skattas för att sedan användas i framtiden för att korrigera bäringen. Olika metoder för att detektera störningar på magnetometern för att automatiskt bestämma när den är störd diskuteras och utvärderas. Rutiner för att enkelt kalibrera sensorerna skapades. Projektets resultat var en väl fungerande attitydestimering, enkla kalibreringsmetoder samt ett par metoder för att detektera störningar på magnetometern.  

Place, publisher, year, edition, pages
2013. , 40 p.
Series
UPTEC F, ISSN 1401-5757 ; 13031
Keyword [en]
Inertial navigation, magnetometer, heading, quaternion
Keyword [sv]
bäring, magnetometer, tröghetsnavigering, quaternion
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:uu:diva-207585OAI: oai:DiVA.org:uu-207585DiVA: diva2:648760
External cooperation
SAAB AB
Educational program
Master Programme in Engineering Physics
Supervisors
Examiners
Available from: 2013-10-04 Created: 2013-09-16 Last updated: 2013-10-04Bibliographically approved

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