Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Robust Electric Compass to Dynamic Magnetic Field Interference

동적간섭자기장에 강인한 전자컴파스

  • Published : 2005.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

The purpose of this research is to improve the reliability of automobile navigation system that utilizes the magnetic compass for localization. On account of its sensitiveness against the dynamic external interference of the magnetic field, the electronic compass itself is not accurate enough to be used for the localization compared to the gyro-compass. To overcome this shortcoming, in this research, a robust electronic compass is designed by using two magnetic compasses to cancel out the dynamic interences efficiently. That is, a dual compass predictive calibration algorithm against irregular external interference of magnetic field is newly proposed and implemented in this paper. When the dynamic interference can be eliminated from the electronic compass, it becomes much accurate than the gyro-based system that suffers from the accumulative drift error. The reliability and performance of the designed system have been verified through the real driving experiments.

Keywords

References

  1. J. A. Farrell & M. Barth, 'The global positioning system & inertial navigation', McGraw-Hill, 1999
  2. E. D. Kaplan, 'Understanding GPS principles and applications', artech house, INS., 1996
  3. T. Upadhyay, S. Cotterill and A. W. Deaton, 'Autonomous GPS/INS navigation experiment for space transfer vehicle', IEEE trans. on AES, vol. 29, no. 3, July 1993 https://doi.org/10.1109/7.220929
  4. H. Zdzislaw, Lewantowicz, 'Architectures and GPS/INS integration: impact on mission accomplishment', IEEE AES MAGAZINE, June 1992 https://doi.org/10.1109/62.145115
  5. L. A. Whitcomb, 'Using low cost magnetic sensors on magnetically hostile land vehicles', Position Location and Navigation Symposium, 1988. Record. Navigation into the 21st Century, pp. 34-38, IEEE PLANS'88, IEEE 1988 https://doi.org/10.1109/PLANS.1988.195463
  6. T. Peters, 'Automobile navigation using a magnetic flux-gate compass', IEEE Tr. Vehicular Technology, vol. Vt-35, no. 2, May, 1986 https://doi.org/10.1109/T-VT.1986.24069
  7. W. Kao, 'Integration of GPS and dead reckoning navigation systems', Proc. of VNlS, 1991
  8. Michael, J. Caruso, 'Applications of magnetoresistive sensor in navigation system', Sensors and Actuators, SAE SP-1220, pp. 15-21,1997
  9. S. W. Liu, Z. N. Zhang and J. C. Hung, 'A high accuracy magnetic heading system composed of fluxgate magnetometers and a microcomputer', Proc. of the IEEE, May 1989 https://doi.org/10.1109/NAECON.1989.40205
  10. L. Ojeda and J. Borenstein, 'Experimental results with the KVHC-100 fluxgate compass in mobile robots', Proceedings of the lASTED International Conference on Robotics and Applications, 2000
  11. H. J. Von der Hardt, D. Wolf and R. Husson, 'The dead reckoning localization system of the wheeled mobile robot ROMANE', IEEE/SICE/RSJ International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 603-610, 1996 https://doi.org/10.1109/MFI.1996.572236
  12. M. Hoshino, H. Xu and E. Aertbelien, 'A kalman filter to estimate direction for automotive navigation', International Conference on Multisensor Fusion and Integration for Intelligent Systems,pp. 145-150, 1996 https://doi.org/10.1109/MFI.1996.572171

Cited by

  1. Efficiency Analysis Solar Cell of the Dynamic Boat's by SPA vol.60, pp.8, 2011, https://doi.org/10.5370/KIEE.2011.60.8.1529