In this thesis, the integration of a MEMS based inertial measurement unit and a three axis
solid state magnetometer are studied.
It is a fact that unaided inertial navigation systems, especially low cost MEMS based
navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS
aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS
provides the position and velocity reference whereas the attitude information is extracted
through estimation filters. An alternative reference source is a three axis magnetometer, which
provides direct attitude measurements.
In this study, error propagation equations of an inertial navigation system are derived / measurement equations of magnetometer for Kalman filtering are developed / the unique
method to self align the MEMS navigation system is developed. In the motion estimation, the
performance of the developed algorithms are compared using a GPS aided system and
magnetometer aided system. Some experiments are conducted for self alignment algorithms.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12608786/index.pdf |
| Date | 01 September 2007 |
| Creators | Kayasal, Ugur |
| Contributors | Ozgoren, Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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