Hang Guo

Hang Guo

Nanchang University

Title: Kalman filtering for the GPS/Magnetometer Navigation system


Hang Guo has completed his Ph.D. in Geomatics and Geodesy with emphasis on navigation from Wuhan University, China in 2003, and now he is a Professor of Academy of Space Technology at Nanchang University, ION member, and was a visiting scholar at the Ohio State University, USA, University of FAF, Munich, Germany, University of New Brunswick, and University of Calgary, Canada. He has published more than 50 papers in reputed journals,Proceedings, and has been serving as an editorial board member of repute.


This paper investigated the data processing method of Kalman filtering for a GPS/ magnetometer integrated system. The practical field test was performed near UNB, Canada. GPS receiver and magnetometers were installed on the car. Two GPS receive lined as a baseline on the top of car to measure the car orientation as the reference, while the magnetometers were put into the car, which measure the car orientation as well. The observation is the difference between GPS azimuth and the magnetic azimuth with the magnetic declination reduction. The observation equation was derived and composed of the car velocity components. And the observation noise was derived by both GPS and magnetic measurement errors. The dynamical equation used the constant acceleration model with the rate of the acceleration as the model error. The results shown that the averages of the east, north, and up RMS are 0.013, 0.014, and 0.013 m; the averages of the east, north, and up velocity RMS are 0.019, 0.020, and 0.016 m/s; the averages of the east, north, and up acceleration RMS are 0.032, 0.032, and 0.026 m/s2. The further purpose of the paper is to study the possibility of the magnetic azimuth bridging the GPS azimuth gap with the help of Kalman filtering.