Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors

Rusdhianto Effendi Abdul Kadir; Mochammad Sahal; Gaung Jagad; Achmad Jazidie; Zulkifli Hidayat

doi:10.1109/ISITIA49792.2020.9163763

Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors

Rusdhianto Effendi Abdul Kadir
, Mochammad Sahal
, Gaung Jagad
, Achmad Jazidie
, Zulkifli Hidayat

Institut Teknologi Sepuluh Nopember

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

Inertial Navigation systems (INS) combined with other navigational aids such a magneto sensor is used to provide orientation solution are introduced to improve performance on INS initial alignment. Even though INS alone can compute the position of a certain vehicle without assistance from another instance. It is well known that INS contain drift error in its navigation solution. The experiment results were obtained from an IMU in stationary condition and rotating it for a certain degree and direction and then simulated using MATLAB. The results obtained demonstrate improvement in heading angle provided when both INS and magneto sensors are integrated using the Kalman Filter.

Original language	English
Title of host publication	Proceedings - 2020 International Seminar on Intelligent Technology and Its Application
Subtitle of host publication	Humanification of Reliable Intelligent Systems, ISITIA 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	292-298
Number of pages	7
ISBN (Electronic)	9781728174136
DOIs	https://doi.org/10.1109/ISITIA49792.2020.9163763
Publication status	Published - Jul 2020
Event	2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020 - Virtual, Online, Indonesia Duration: 22 Jul 2020 → 23 Jul 2020

Publication series

Name	Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020

Conference

Conference	2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020
Country/Territory	Indonesia
City	Virtual, Online
Period	22/07/20 → 23/07/20

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Inertial navigation system
Kalman filter
fine alignment
magneto sensor

Access to Document

10.1109/ISITIA49792.2020.9163763

Cite this

Kadir, R. E. A., Sahal, M., Jagad, G., Jazidie, A., & Hidayat, Z. (2020). Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors. In Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020 (pp. 292-298). Article 9163763 (Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISITIA49792.2020.9163763

Kadir, Rusdhianto Effendi Abdul ; Sahal, Mochammad ; Jagad, Gaung et al. / Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors. Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. pp. 292-298 (Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020).

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title = "Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors",

abstract = "Inertial Navigation systems (INS) combined with other navigational aids such a magneto sensor is used to provide orientation solution are introduced to improve performance on INS initial alignment. Even though INS alone can compute the position of a certain vehicle without assistance from another instance. It is well known that INS contain drift error in its navigation solution. The experiment results were obtained from an IMU in stationary condition and rotating it for a certain degree and direction and then simulated using MATLAB. The results obtained demonstrate improvement in heading angle provided when both INS and magneto sensors are integrated using the Kalman Filter.",

keywords = "Inertial navigation system, Kalman filter, fine alignment, magneto sensor",

author = "Kadir, \{Rusdhianto Effendi Abdul\} and Mochammad Sahal and Gaung Jagad and Achmad Jazidie and Zulkifli Hidayat",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020 ; Conference date: 22-07-2020 Through 23-07-2020",

year = "2020",

month = jul,

doi = "10.1109/ISITIA49792.2020.9163763",

language = "English",

series = "Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Kadir, REA, Sahal, M, Jagad, G, Jazidie, A & Hidayat, Z 2020, Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors. in Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020., 9163763, Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020, Institute of Electrical and Electronics Engineers Inc., pp. 292-298, 2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020, Virtual, Online, Indonesia, 22/07/20. https://doi.org/10.1109/ISITIA49792.2020.9163763

Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors. / Kadir, Rusdhianto Effendi Abdul; Sahal, Mochammad; Jagad, Gaung et al.
Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020. Institute of Electrical and Electronics Engineers Inc., 2020. p. 292-298 9163763 (Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors

AU - Kadir, Rusdhianto Effendi Abdul

AU - Sahal, Mochammad

AU - Jagad, Gaung

AU - Jazidie, Achmad

AU - Hidayat, Zulkifli

PY - 2020/7

Y1 - 2020/7

N2 - Inertial Navigation systems (INS) combined with other navigational aids such a magneto sensor is used to provide orientation solution are introduced to improve performance on INS initial alignment. Even though INS alone can compute the position of a certain vehicle without assistance from another instance. It is well known that INS contain drift error in its navigation solution. The experiment results were obtained from an IMU in stationary condition and rotating it for a certain degree and direction and then simulated using MATLAB. The results obtained demonstrate improvement in heading angle provided when both INS and magneto sensors are integrated using the Kalman Filter.

AB - Inertial Navigation systems (INS) combined with other navigational aids such a magneto sensor is used to provide orientation solution are introduced to improve performance on INS initial alignment. Even though INS alone can compute the position of a certain vehicle without assistance from another instance. It is well known that INS contain drift error in its navigation solution. The experiment results were obtained from an IMU in stationary condition and rotating it for a certain degree and direction and then simulated using MATLAB. The results obtained demonstrate improvement in heading angle provided when both INS and magneto sensors are integrated using the Kalman Filter.

KW - Inertial navigation system

KW - Kalman filter

KW - fine alignment

KW - magneto sensor

UR - https://www.scopus.com/pages/publications/85091693457

U2 - 10.1109/ISITIA49792.2020.9163763

DO - 10.1109/ISITIA49792.2020.9163763

M3 - Conference contribution

AN - SCOPUS:85091693457

T3 - Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020

SP - 292

EP - 298

BT - Proceedings - 2020 International Seminar on Intelligent Technology and Its Application

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 22 July 2020 through 23 July 2020

ER -

Kadir REA, Sahal M, Jagad G, Jazidie A , Hidayat Z. Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors. In Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020. Institute of Electrical and Electronics Engineers Inc. 2020. p. 292-298. 9163763. (Proceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020). doi: 10.1109/ISITIA49792.2020.9163763

Application of Kalman Filter in Fine Alignment of INS Assisted by Magneto Sensors

Abstract

Publication series

Conference

UN SDGs

Keywords

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