A Kalman filter to estimate direction for automotive navigation

A Kalman filter algorithm to estimate direction for automotive navigation is reported. An extended Kalman filter is used to combine a magnetic compass and a rate gyroscope and to compensate for the sensor errors; the result is an optimal estimate for heading direction. A mathematical model for magnetic compass errors caused by body magnetization and the body effect of magnetic material is proposed. An error model of the rate gyroscope is also established. Errors of both sensors are calibrated through a computer simulation. Finally, experimental navigation results are demonstrated.