Azimuth estimation based on CNN and LSTM for geomagnetic and inertial sensors data

Abstract

Although estimating the azimuth using a geomagnetic sensor is very useful, the estimation error may be very large due to the surrounding geomagnetic disturbance. We proposed a novel method for preprocessing appropriately for geomagnetic and inertial sensor data to be suitable for the proposed Artificial Neural Network model and training method for the model. As a result, the probability of azimuth estimation error within 1 degree is 96.4% with regression estimation. For classification estimation, when the azimuth estimation probability is 90% or more, the probability that the azimuth estimation error is within 1 degree is 100%.

Keywords

• Azimuth
• Geomagnetic sensor
• Inertial sensor
• LSTM
• Sensor fusion