On magnetometer heading updates for inertial pedestrian navigation system
A magnetometer is often used to aid heading estimation of a low-cost Inertial Pedestrian Navigation System (IPNS) without which the latter will not be able to accurately estimate heading for more than a few seconds, even with the help of Zero Velocity Update (ZVU). Heading measurements from the magn...
| Main Authors: | , , , , , , |
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| Format: | Article |
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Springer
2014
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| Online Access: | https://eprints.nottingham.ac.uk/33190/ |
| _version_ | 1848794578716459008 |
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| author | Abdulrahim, Khairi Seman, K. Othman, M Md Shuib, F. M. Moore, Terry Hide, Christopher Hill, Chris |
| author_facet | Abdulrahim, Khairi Seman, K. Othman, M Md Shuib, F. M. Moore, Terry Hide, Christopher Hill, Chris |
| author_sort | Abdulrahim, Khairi |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | A magnetometer is often used to aid heading estimation of a low-cost Inertial Pedestrian Navigation System (IPNS) without which the latter will not be able to accurately estimate heading for more than a few seconds, even with the help of Zero Velocity Update (ZVU). Heading measurements from the magnetometer are typically integrated with gyro heading in an estimation filter such as Kalman Filter (KF) — to best estimate the true IPNS heading, resulting in a better positioning accuracy. However indoors the reliability of these measurements is often questionable because of the magnetic disturbances that can disrupt the measurements. To solve this problem, a filtering method is often used to select the best measurements. However, the importance of the frequency of these measurement updates has not been highlighted.
In this paper, the impact of frequency of magnetometer updates on the overall accuracy of the navigation system is presented. The paper starts by discussing the use of a magnetometer in a low-cost IPNS. An exemplary filter to extract reliable heading measurements from the magnetometer is then described. From real field trial results, it will be shown that even if reliable heading measurements may be obtained indoors, it is still insufficient to increase the positioning accuracy of the low-cost IPNS unless it is reliable on every epoch. |
| first_indexed | 2025-11-14T19:18:25Z |
| format | Article |
| id | nottingham-33190 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T19:18:25Z |
| publishDate | 2014 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-331902020-05-04T16:48:31Z https://eprints.nottingham.ac.uk/33190/ On magnetometer heading updates for inertial pedestrian navigation system Abdulrahim, Khairi Seman, K. Othman, M Md Shuib, F. M. Moore, Terry Hide, Christopher Hill, Chris A magnetometer is often used to aid heading estimation of a low-cost Inertial Pedestrian Navigation System (IPNS) without which the latter will not be able to accurately estimate heading for more than a few seconds, even with the help of Zero Velocity Update (ZVU). Heading measurements from the magnetometer are typically integrated with gyro heading in an estimation filter such as Kalman Filter (KF) — to best estimate the true IPNS heading, resulting in a better positioning accuracy. However indoors the reliability of these measurements is often questionable because of the magnetic disturbances that can disrupt the measurements. To solve this problem, a filtering method is often used to select the best measurements. However, the importance of the frequency of these measurement updates has not been highlighted. In this paper, the impact of frequency of magnetometer updates on the overall accuracy of the navigation system is presented. The paper starts by discussing the use of a magnetometer in a low-cost IPNS. An exemplary filter to extract reliable heading measurements from the magnetometer is then described. From real field trial results, it will be shown that even if reliable heading measurements may be obtained indoors, it is still insufficient to increase the positioning accuracy of the low-cost IPNS unless it is reliable on every epoch. Springer 2014-07-01 Article PeerReviewed Abdulrahim, Khairi, Seman, K., Othman, M, Md Shuib, F. M., Moore, Terry, Hide, Christopher and Hill, Chris (2014) On magnetometer heading updates for inertial pedestrian navigation system. Gyroscopy and Navigation, 5 (3). pp. 145-152. ISSN 2075-1087 http://dx.doi.org/10.1134/S207510871403002X doi:10.1134/S207510871403002X doi:10.1134/S207510871403002X |
| spellingShingle | Abdulrahim, Khairi Seman, K. Othman, M Md Shuib, F. M. Moore, Terry Hide, Christopher Hill, Chris On magnetometer heading updates for inertial pedestrian navigation system |
| title | On magnetometer heading updates for inertial pedestrian navigation system |
| title_full | On magnetometer heading updates for inertial pedestrian navigation system |
| title_fullStr | On magnetometer heading updates for inertial pedestrian navigation system |
| title_full_unstemmed | On magnetometer heading updates for inertial pedestrian navigation system |
| title_short | On magnetometer heading updates for inertial pedestrian navigation system |
| title_sort | on magnetometer heading updates for inertial pedestrian navigation system |
| url | https://eprints.nottingham.ac.uk/33190/ https://eprints.nottingham.ac.uk/33190/ https://eprints.nottingham.ac.uk/33190/ |