Use of Earth’s Magnetic Field for Mitigating Gyroscope Errors Regardless of Magnetic Perturbation 英文参考文献.docVIP

Sensors 2011, 11, 11390-11414; doi:10.3390/s111211390 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Use of Earth’s Magnetic Field for Mitigating Gyroscope Errors Regardless of Magnetic Perturbation Muhammad Haris Afzal, Valérie Renaudin * and Gérard Lachapelle Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada; E-Mails: haris.afzal@ucalgary.ca (M.H.A.); gerard.lachapelle@ucalgary.ca (G.L.) * Author to whom correspondence should be addressed; E-Mail: valerie.renaudin@ucalgary.ca; Tel.: +1-403-210-9802; Fax: +1-403-284-1980. Received: 15 October 2011; in revised form: 21 November 2011 / Accepted: 22 November 2011 / Published: 30 November 2011 Abstract: Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth’s magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth’s