Development for the Azimuth Measurement Algorithm using Multi Sensor Fusion Method

멀티센서 퓨전 기법을 활용한 방위 측정 알고리즘의 설계

  • Kim, Tae-Yeong (Electronics and Information Department, Chonbuk National University) ;
  • Kim, Young-Chul (Mechanical and Automative Engineering Department, Kunsan National University) ;
  • Song, Moon-Kyou (Electronics and Control Department, Wonkwang University) ;
  • Chong, Kil-To (Electronics and Information Department, Chonbuk National University)
  • 김태영 (전북대학교 전자정보공학부) ;
  • 김영철 (군산대학교 기계자동차공학부) ;
  • 송문규 (원광대학교 전자및제어공학부) ;
  • 정길도 (전북대학교 전자정보공학부)
  • Received : 2011.01.05
  • Accepted : 2011.02.10
  • Published : 2011.02.28


Presently, the location and direction information are certainly needed for the autonomous vehicle of the ship. Among them, the direction information is a essential elements to automatic steering system. And the gyro-compass, the magnetic-compass and the GPS compass are the sensor indicating the direction. The gyro-compasses are mainly used in the large-sized ship of the GMDSS(Global Maritime Distress & Safety System). The precision and the reliability of the gyro-compasses are excellent but big volume and high price are disadvantage. The magnetic-compass has relatively fine precision and inexpensive price. However, the disadvantage is in the influence by the magnetism object including the steel structure of a ship, and etc. In the case of the GPS compass, the true north is indicated according to the change of the location information but in case of the minimum number of satellites or stopping of a ship or exercise in the error range, the exact direction cannot be obtained. In this paper, the performance of the GPS compass was improved by using the least-square curve fitting method for the mutual trade off of the angle sensor. The algorithm which improves the precision of an azimuth by applying the weighted value according to the size of covariance error was proposed with GPS-compass and magnetic compass. The characteristic and the performance of the proposed algorithm were analyzed and verified through experimentation. The applicability of the proposed algorithm was shown through the experimental result.


Magnetic-compass;GPS-compass;Least-squre Curve fitting


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