2030 KB36 KB199920252015Dikić, GoranLukić, NebojsaMarković, GoranSokolović, VladaStančić, Radeletnik:61številka:7/8str. 448-458, SI 81ISSN:0039-2480COBISSID:14100507URN:URN:NBN:SI:doc-PJTV0Y7TenZveza strojnih inženirjev in tehnikov Slovenije et al.Strojniški vestnikbarometriglobalni sistem pozicioniranjainercijska navigacijaintegracijaKalmanov filtermagnetometriMEMSINS/GPS navigation system based on MEMS technologies|Integrated navigation systems are widely used in all aspects of life, i.e. in various civilian and military applications. In the previous two decades, most of the attention in this area has been directed toward the use of low-cost sensors, which are characterized by the low accuracy. Therefore, many algorithms have been developed to implement inertial sensor errors damping, which are based on the integration of inertial sensors with the external sources of information (GPS receivers, magnetometers, barometers, etc.) or mathematical models developed for the self-damping of inertial sensors errors. This paper proposes a specific method of gyroscope drift compensation by using a PI controller based on the magnetometer measurements, as well as a method of errors compensation in the horizontal channel of navigation system by using the adaptive control signals. The experimental results obtained for the proposed solutions presented in this paper confirmed the possibility of the successful application of these solutions in the real-world environmentGlobalni trend največje možne natančnosti navigacijskih naprav po najnižji ceni odpira vse več priložnosti za praktično uporabo poceni senzorjev, kot so senzorji s tehnologijo MEMS (elektromehanski mikrosistemi). Tako lahko pričakujemo rast za zdaj še razmeroma šibkega povpraševanja po teh senzorjih, ki predstavlja ključni problem današnjih raziskav na področju navigacijskih sistemov na podlagi tehnologij MEMSTEXTznanstveno časopisjejournalsSlovenian National E-content AggregatorNational and University Library of SloveniaUniverza v Ljubljani, Fakulteta za strojništvo