Integrated Accelerometer/GPS Heading Estimator

F.-T. Huang, L.-S. Wang and F.-R. Chang

Abstract:	The heading estimator for a vehicle using accelerometers and Global Positioning SystemGPSis designed in this paper. The accelerometers can be used to obtain attitude information of the vehicle if they are installed in a suitable configuration. For the problem of heading estimation, by measuring the tangential acceleration and the centripetal acceleration, the heading angle can be computed at a high sampling ratee.g. 100Hz However, the accumulation errors due to integration make it necessary to perform adjustment periodically. To solve this problem, the GPS observables are used to correct the drift errors corresponding to the accelerometers. From the simulation and experimental results, the proposed accelerometer/GPS integrated heading estimator can indeed eliminate the errors from the drift phenomenon, and provide the accurate heading angle estimate of the baseline vector in real time.
Published in:	Proceedings of the 2002 National Technical Meeting of The Institute of Navigation January 28 - 30, 2002 The Catamaran Resort Hotel San Diego, CA
Pages:	294 - 300
Cite this article:	Huang, F.-T., Wang, L.-S., Chang, F.-R., "Integrated Accelerometer/GPS Heading Estimator," Proceedings of the 2002 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2002, pp. 294-300.
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