An Approach to Designing Algorithms for Determining Vehicle Heading Using Onboard Multipoint Magnetic Measurements

摘要

A vehicle accommodates as many three-component magnetometers as are enough to identify the location of noise sources and to determine the distribution of magnetic field intensity on a vehicle. The proposed formulas and algorithms provide identification of the Earth's magnetic field (EMF) parameters and determination of a vehicle's magnetic heading in case that the information about the yaw and pitch/roll angles from a vertical reference gyro is available. The process of heading determination is simulated, allowing for estimation of procedural errors.