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Journal of Sensors - Volume 2015 2015, Article ID 435062, 11 pages -

Research Article

Department of Aerospace Engineering Science, University of Colorado at Boulder, Boulder, CO 80309, USA

Department of Aerospace Information Engineering, Konkuk University, Seoul 143-701, Republic of Korea

Division of Satellite Navigation, Korea Aerospace Research Institute, Daejeon 305-806, Republic of Korea

Received 10 March 2015; Revised 23 July 2015; Accepted 27 July 2015

Academic Editor: Jianhua Tong

Copyright © 2015 Daehee Won et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A navigation algorithm is proposed to increase the inertial navigation performance of a ground vehicle using magnetic measurements and dynamic constraints. The navigation solutions are estimated based on inertial measurements such as acceleration and angular velocity measurements. To improve the inertial navigation performance, a three-axis magnetometer is used to provide the heading angle, and nonholonomic constraints NHCs are introduced to increase the correlation between the velocity and the attitude equation. The NHCs provide a velocity feedback to the attitude, which makes the navigation solution more robust. Additionally, an acceleration-based roll and pitch estimation is applied to decrease the drift when the acceleration is within certain boundaries. The magnetometer and NHCs are combined with an extended Kalman filter. An experimental test was conducted to verify the proposed method, and a comprehensive analysis of the performance in terms of the position, velocity, and attitude showed that the navigation performance could be improved by using the magnetometer and NHCs. Moreover, the proposed method could improve the estimation performance for the position, velocity, and attitude without any additional hardware except an inertial sensor and magnetometer. Therefore, this method would be effective for ground vehicles, indoor navigation, mobile robots, vehicle navigation in urban canyons, or navigation in any global navigation satellite system-denied environment.

Autor: Daehee Won, Jongsun Ahn, Sangkyung Sung, Moonbeom Heo, Sung-Hyuck Im, and Young Jae Lee



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