A Quaternion Scaled Unscented Kalman Estimator for Inertial Navigation States Determination Using INS/GPS/Magnetometer Fusion
Read full paper at: http://www.scirp.org/journal/PaperInformation.aspx?PaperID=47414#.VMijhCzQrzE Author(s) Wassim Khoder , Bassem Jida Affiliation(s) Faculty of Economics and Business Administration, Lebanese University, Tripoli, Lebanon . Faculty of Science, Lebanese University, Tripoli, Lebanon . ABSTRACT This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore t...