The Accuracy of Navigation Using Magnetic Dipole Beacons

Angus P. Andrews

Abstract:	The location of a automobile within the lanes of a high- way can be estimated from onboard measurements of the fields from magnets in the pavement with known lo cations and orientations. The accuracy of this navigtlr tion method is limited by background and sensor noise, and the magnitudes, orientations, and locations of the magnets relative to the path of the vehicle. The mean- squared location error of this navigation system is de term&d by formulating the estimation problem as an extended Kalman filtering problem, linear&d about a nominal vehicle trajectory. The estimation uncertainties are then character&d by a 3x3 covariance matrix, which is the solution of a matrix Riccati differential equation. This matrix differential equation is solved in closed form for the case that the vehicle moves at a uniform rate along a straight-line path for several milliseconds while it is within “sensible range” of the magnet. The solution specifies the mean-squared location uncertainty as a r& tional function of the mean-squared sensor noise and the relative locations, orientations, and magnitudes of the magnets.
Published in:	Proceedings of the 47th Annual Meeting of The Institute of Navigation (1991) June 10 - 12, 1991 Williamsburg Hilton and National Conference Center Williamsburg, VA
Pages:	251 - 256
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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