Outdoor Aided Navigation Using Smart Devices Sensors

Abstract

This thesis aims to present a new technique for aiding navigation in GNSS-denied environments. The thesis is composed of seven chapters, each chapter in the thesis dealt with a different part of the stages and requirements of the research, and they were as follows. Chapter one was introductory and defined the problem and objectives desired from the thesis. Chapter two was a review of different coordinate frames and techniques used for positioning, and it gave a detailed explanation for the Kalman filter concept and its applications. Chapter three has been subdivided into two major parts. Part one presented types of errors associated with smart device sensors, while part two discussed the common calibration techniques used for sensors measurements correction. Chapter four reviewed the different techniques of heading estimation from inertial and magnetometer sensors, it also has been concentrated on the sensor fusion between different sensors by Kalman filter procedure. Finally, it showed a significant