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Session C1: Sensor Aiding and Augmenting

Dynamic Magnetometer/ Inertial Sensors Integrated Anti-jamming Method for Ground Vehicle
Zongkai Wu and Wei Wang, Harbin Engineering University, China
Location: Windjammer

With the development of Micro-Electro-Mechanical Systems (MEMS) technology, the magnetometer and inertial sensors are usually integrated into a module or chip and used in variety of applications. Magnetometer is prone to be interfered by onboard or ambient magnetic disturbance and the disturbance may be changed with the transformation of environment. This paper provides a magnetometer anti-jamming method in dynamic magnetic disturbance. Firstly, the magnetic field vector is formulated as a state estimation. Secondly, an adaptive Kalman filter is designed to estimate states and adjust magnetometer measurements when magnetic disturbance occurs. Simulation and field test results indicate that the mutational magnetic disturbance can be removed and the strong or long-time magnetic disturbance can be reduced.



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