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HEADING FOR A HYBRID NAVIGATION SOLUTION BASED ON MAGNETICALLY CALIBRATED MEASUREMENTS

  • US 20160202359A1
  • Filed: 01/09/2015
  • Published: 07/14/2016
  • Est. Priority Date: 01/09/2015
  • Status: Active Grant
First Claim
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1. A method for determining a heading for a hybrid navigation system with magnetometer aiding, the method comprising:

  • receiving signals from a plurality of global navigation satellite system (GNSS) satellites at a location corresponding to an object;

    obtaining three-dimensional inertial measurements from one or more inertial sensors corresponding to the object;

    obtaining three-dimensional magnetic measurements from one or more magnetometers corresponding to the object;

    estimating magnetic bias states for biases of the three-dimensional magnetic measurements with a magnetic calibration filter using the three-dimensional inertial measurements, data from the signals from the plurality of GNSS satellites, and the three-dimensional magnetic measurements;

    calculating an artificial heading for the object based on the magnetic bias states; and

    estimating a main navigation solution for the object with a main navigation filter using the three-dimensional inertial measurements, data from the signals from a plurality of GNSS satellites, and the artificial heading.

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