为了实现水下航行器的精确导航，利用磁通门罗盘和GPS组成了组合导航定位系统，介绍了组合导航定位系统的工作原理。
Integrated fluxgate magnetic and GPS navigation system is given in order to achieve autonomous underwater vehicles precision navigation, and principle of the integrated navigation system is present.
利用模糊PID复合控制器实现移动机器人的轨迹控制 ，利用陀螺、磁罗盘、里程计进行多传感器融合定位。
To solve the problem, this paper presents an integrated method. Fuzzy PID Controller is used for trajectory control.
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