Determination of the direction of travel from the magnetic field measured by the magnetic sensor

摘要

The present invention relates to a method for determining the direction of travel by means of magnetic sensors, the magnetic field is measured by a magnetometer, and the calculating means for a given sampling time: -Estimation of the prediction of the direction of progress, which is a function of the direction of progress determined at the previous sampling time, Resetting the estimated predicted heading direction as a function of magnetic heading determined from magnetometer measurements Implement recursive processing to compute. During the reset, the calculation means A model of the change in self-disturbance between the two sampling times, and -A priori estimation Estimate the strength of the reset as a function of