Integration of INS, GPS, Magnetometer and Barometer for Improving Accuracy Navigation of the Vehicle

  • Vlada Sokol Sokolovic Military Academy, University of Defense, Belgrade, Serbia
  • Goran Dikic Military Academy, University of Defense, Belgrade, Serbia
  • Rade Stancic Serbia and Montenegro Air Traffic Services SMATSA, Belgrade, Serbia
Keywords: Navigation, strapdown inertial navigation system, global positioning system, extended Kalman filter, Barometer, Magnetometer

Abstract

This paper describes integrated navigation system that is based on a low cost inertial sensor, global positioning system (GPS) receiver, magnetometer and a barometer, in order to improve accuracy of complete attitude and navigation solution. The main advantage of integration consists in availability of reliable navigation parameters during the intervals of absence of GPS data. The magnetometer and the barometer are applied for the attitude calibration and vertical channel stabilization, respectively. The acceptable accuracy of inertial navigation system (INS) is achieved by the proper damping of INS errors. The integration is made by the implementation of an extended Kalman filter (EKF) with control signal that is designed appropriate for low accuracy sensors noise characteristics. The analysis of integrated navigation system performances is made experimentally and the results show that integrated navigation system provides continuous and reliable navigation solutions.

Defence Science Journal, 2013, 63(5), pp.451-455, DOI:http://dx.doi.org/10.14429/dsj.63.4534

Author Biographies

Vlada Sokol Sokolovic, Military Academy, University of Defense, Belgrade, Serbia
Mr Vlada Sokolović received his BSc (Radar systems engineering) from Military Academy in Belgrade and MSc (Telecommunication engineering) from University of Belgrade. He is now a PhD candidate in the Military Academy, University of Defense in Belgrade. His current research interests include : Inertial navigation systems, global positioning systems, and navigation.
Goran Dikic, Military Academy, University of Defense, Belgrade, Serbia

Dr Goran Dikić received his BSc (Missile systems engineering), MSc and PhD in control engineering from University of Belgrade. He is currently with University of Defense in Belgrade, working as a provost for inter-university and international cooperation, and as an assistant professor. His current research interests include : Control systems, stochastic systems and data fusion.

Rade Stancic, Serbia and Montenegro Air Traffic Services SMATSA, Belgrade, Serbia

Dr Rade Stančić received his BSc, MSc and PhD in control engineering from University of Belgrade. His current research interests include : Inertial navigation systems, global navigation satellite systems, and particularly, algorithms used in the integrated navigation systems.

Published
2013-09-25
How to Cite
Sokolovic, V., Dikic, G., & Stancic, R. (2013). Integration of INS, GPS, Magnetometer and Barometer for Improving Accuracy Navigation of the Vehicle. Defence Science Journal, 63(5), 451-455. https://doi.org/10.14429/dsj.63.4534
Section
Aeronautical Systems