Magnetometer standard deviation #59
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In ins_gnss_mag.m (line 46), the magnetometer standard deviation is specified in rad, but didn't it have to be in uT or G? |
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Replies: 1 comment
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Hello Bruno, Good question. The magnetometer standard deviation is in radians because the Kalman filter tries to estimate the yaw error The Kalman filter is not configured to denoise the magnetometer measurements. According to my short experience, the yaw angle estimation (nav_e.yaw) is not improved dramatically with this Kalman filter scheme. It would be nice if other NaveGo users share their experiences using magnetometers in integrated navigation systems. Best regards. |
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Hello Bruno,
Good question.
The magnetometer standard deviation is in radians because the Kalman filter tries to estimate the yaw error using the difference between the magnetometer compass and the INS yaw angle (ins_gnss_mag.m, line 353).
The Kalman filter is not configured to denoise the magnetometer measurements.
According to my short experience, the yaw angle estimation (nav_e.yaw) is not improved dramatically with this Kalman filter scheme.
It would be nice if other NaveGo users share their experiences using magnetometers in integrated navigation systems.
Best regards.