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

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.