Method of generating geometric heading and positioning system using the same method

摘要

A method of generating a geometric heading during positioning is provided. The method includes the following steps: estimating a current declination information of a current position according to a declination database, wherein the declination database gathers a magnetic map and a plurality of declination information corresponding to a difference between a magnetic north and a geometric north at all grid positions on the magnetic map; generating a predicted heading according to an angular velocity reading of a gyroscope and a magnetic heading reading of a magnetometer; and generating the geometric heading according to the current declination information of the current position and the predicted heading.

主权项

1. A method of generating a geometric heading during positioning, comprising:
estimating a current declination information of a current position according to a declination database, wherein the declination database gathers a magnetic map and a plurality of declination information corresponding to a difference between a magnetic north and a geometric north at all grid positions on the magnetic map; generating a current magnetic heading according to a magnetometer; generating a current geometric heading according to a current angular velocity reading of a gyroscope and a previous geometric heading, wherein the previous geometric heading is generated at a time frame (t−1) and the current geometric heading is generated at a time frame t; and updating the current geometric heading according to the current declination information of the current position and the current magnetic heading.