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Vol. 175, Issue 7, July 2014, pp. 16-21




A Novel Attitude Measurement Algorithm in Magnetic Interference Environment

1 Lingxia Li, * 1 Lili Shi, 2 Yu Liu, 1 Zengshan Tian, 1 Mu Zhou

1 Institute of Communication and Information Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
2 Institute of Optical Communication Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
*1 Tel.: 13883717506, fax: 023-62487972

*1 E-mail: slili2012@sina.com


Received: 23 April 2014 /Accepted: 30 May 2014 /Published: 31 July 2014

Digital Sensors and Sensor Sysstems


Abstract: The approach of using Magnetic Angular Rate Gravity (MARG) sensor for the current multi-sensor based pedestrian navigation algorithm magnetometers is susceptible to the external magnetic interference. The result of attitude is affected by many factors, like the low-precision MEMS gyro drift and large body linear acceleration measurements. In this paper, we propose anti-jamming algorithm which is based on four elements of Extended Kalman Filtering (EKF). To reduce carrier linear acceleration and local magnetic field that impact on attitude measurement, the adaptive covariance matrix structure is considered. Moreover, the heading angle correction threshold method is used in magnetic field compensation and interference environment. Based on the experimental results, the effectiveness of the proposed algorithm suppresses the influence of the external magnetic interference on heading angle, as well as improving the accuracy of system attitude measurement.


Keywords: Multi-sensor, Complex environment, Fusion algorithm, Anti-magnetic interference.


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