INTRODUCTIONRecently, as the requirements for performance on the navigation system in unmanned vehicles and/or robots becomes more tight, integrated navigation systems are combined with other sensors such as a magnetic compass, barometer, speedometer, vision sensor and ultrasonic. Especially, robots and unmanned aerial vehicles utilize an aiding sensor which can provide attitude information in order to improve attitude accuracy. Among the aiding sensors for attitude information, the magnetic compass is simple to use and low-cost. However, the outputs of the magnetic compass are influenced by magnetic substance and/or metal. In the case, a magnetic compass may give an output with large attitude error. In order to have more accurate navigation information when the magnetic compass is used, an algorithm to detect fault of the magnetic compass may be necessary. In this paper a magnetic compass fault detection method for GPS/INS/Magnetic compass integrated navigation system is proposed.

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