Abstract: This paper introduces a GPS/single gyro yaw value fusion algorithm for marine application. It first introduces the Runge-Kutta method to estimate the yaw value according to the angular velocity output of gyro. When the GPS signal is output, Kalman filtering is used to estimate yaw value error and bias of gyro to give the accurate value. Simulation results indicate that, by using the fusion algorithm, the final yaw value error is within ±1°. The output is very smooth, indicating that the algorithm is sound and effective.

Key words: Kalman filtering, yaw, GPS/single gyro