A Low-Cost Integrated Navigation System Based on IMU/Magnetic Compass /Velocity Log/Altimeter

Global Navigation Satellite System (GNSS) provides high accuracy positioning informat ion, and the advances in Micro-Electro-Mechanical System (MEMS) have led to the commercial availability of MEMS Inert ial Measurement Units (IMU) with short-term stability. Numerous researches and applications have been implemented, based on integrated system requiring inertial data as an essential ingredient to make full use of advantages of each navigation system [1]. GNSS/INS mostly applied is one kind of the integrated system [2], and many researches on GNSS/INS navigation data fusion are reported [3]. However, two vital aspects should be concerned with respect to the application of such integrated system. Firstly, GNSS can work only near o