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Magnetic compass fault detection method for GPS/INS/magnetic compass integrated navigation systems

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Abstract

This paper proposes a magnetic compass fault detection method for GPS/INS/Magnetic compass integrated navigation systems. The fault is assumed to be caused by the hard iron and soft iron effect and modeled as an abrupt change in the magnetic compass output. In order to detect the fault, a test statistic related with only azimuth error measurement is determined. When a fault is detected, the GPS/INS/Magnetic compass integrated navigation system is changed into a GPS/INS integrated navigation system mode. In order to show the validity of the proposed method, computer simulation and van testing are carried out. The simulation and van test results show that the proposed navigation system gives more accurate outputs than the GPS/INS/Magnetic compass without the proposed method.

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Author notes

  1. Sul Gee Park

    Present address: Marine Safety and Pollution Response Research Development, Korea Ocean Research and Development Institute, 104 Sinseong-Ro, Yuseong-gu, Daejeon, 305-343, Korea

Authors and Affiliations

  1. Department of Electronics Engineering, Chungnam National University, Daejeon, Korea

    Sul Gee Park

  2. LG Electronics Corporation, Seoul, Korea

    Ho Cheol Jeong

  3. Department of Sensor Systems, Hanwha Corporation R&D Center, 52-1 Oesam-dong, Yusong-gu, Daejon, 305-156, Korea

    Jeong Won Kim

  4. Department of Electronics Engineering, Chungnam National University, 99 Daehakro, Yusong-gu, Daejon, 305-764, Korea

    Dong-Hwan Hwang & Sang Jeong Lee

Authors
  1. Sul Gee Park
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  2. Ho Cheol Jeong
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  3. Jeong Won Kim
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  4. Dong-Hwan Hwang
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  5. Sang Jeong Lee
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Corresponding author

Correspondence to Dong-Hwan Hwang.

Additional information

Recommended by Editorial Board member Bin Jiang under the direction of Editor Jae Weon Choi.

Sul Gee Park received her B.S. and M.S. degrees from the Department of Electronics Engineering at Chungnam National University, Korea, in 2008 and 2010, respectively. She is now working for the Korea Ocean Research and Development Institute. Her research interests include GPS/INS integrated navigation system design and INS/Vision sensor integrated navigation system design.

Ho Cheol Jeong received his B.S. and M.S. degrees from the Department of Electronics Engineering at Chungnam National University, Korea, in 2007 and 2009, respectively. He is now working at LG Electronics Ltd. His research interests include GNSS and GNSS/INS integrated navigation systems.

Jeong Won Kim received his B.S., M.S. and Ph.D. degrees from the Department of Electronics Engineering from Chungnam National University, Korea in 2002, 2004 and 2008, respectively. He is now working in the R&D Center at Hanwha Corporation. His research interests include GPS/INS integrated navigation system design and Embedded system design.

Dong-Hwan Hwang is a professor in the Department of Electronics Engineering, Chungnam National University, Korea. He received his B.S. degree from Seoul National University, Korea, in 1985. He received his M.S. and Ph.D. degrees from Korea Advanced Institute of Science and Technology, Korea, in 1987 and 1991, respectively. His research interests include GNSS/INS integrated navigation system design and GNSS applications.

Sang Jeong Lee is a professor in the Department of Electronics Engineering, Chungnam National University, Korea. He received his B.S., M.S. and Ph.D. degrees from Seoul National University, Korea in 1979, 1981, and 1987, respectively. His research interests include GNSS receiver design and robust control.

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Park, S.G., Jeong, H.C., Kim, J.W. et al. Magnetic compass fault detection method for GPS/INS/magnetic compass integrated navigation systems. Int. J. Control Autom. Syst. 9, 276–284 (2011). https://doi.org/10.1007/s12555-011-0209-0

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  • DOI: https://doi.org/10.1007/s12555-011-0209-0

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