Aiming at problem of drift produced by merely using inertial navigation in attitude determination and localization

an integrated navigation scheme applying magnetometer and GPS to aid inertial navigation is proposed. Magnetometer data and gyroscope data are preprocessed. Error-quaternion-based attitude determination system equation and measurement equation are derived

and the data of gyroscope and the magnetometer are fused by Kalman filter. Meanwhile the system equation and measurement equation of positioning system is established

calibrate position and velocity information

use GPS measurement value to aid inertial navigation. Results of experimental verification show that the integrated navigation system has improved the drift problem in inertial navigation effectually. At the same time

it can work properly on the occasion that GPS doesn’t work.