Setting up an algorithm to determine the directional parameters for moving vehicles on the basis of integrated rate gyroscopes, magnetometers and accelerometers

Abstract

This paper presents a method of applying an extended nonlinear Kalman filter to combine the measured information from the angular speed gyroscope with the magnetometer and accelerometer to estimate the Rodrig-Haminton parameters. These parameters help to determine the direction cosine matrix and calculate the orientation angle between the coordinate system attached to the carrier and the navigation coordinate system. The simulation results confirm the correction of the proposed algorithm.