Design and Real-time Performance Verification of MPS/INS/Range Navigation System under Indoor Magnetic Distortion

Abstract

This paper proposes a new navigation algorithm that integrates a magnetic pose estimation system (MPS), an IMU, and a range sensor to provide stable navigation performance in unstructured indoor environment. Moreover, we implement a real-time navigation system to apply these navigation algorithms to aerial vehicle. In this paper, the magnetic field vector is modeled using an algorithm called MPS, and the position and attitude are estimated through the least squares method. However, while analyzing the results of this system, it was confirmed that navigation performance deteriorated due to magnetic field distortion in an unstructured indoor environment. To improve these limitations, we present a new type of EKF (Extended Kalman Filter) algorithm that integrates an MPS, an IMU and a range sensor. Finally, in order to verify the algorithm proposed in this paper, a real-time navigation system is designed, and ground and flight experiments are conducted.