Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary
| Autor: | Zheng You, Binwen Yuan, Deng Yang, Duan Wenrui, Bin Li |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Heading (navigation)
Magnetometer Physics::Medical Physics ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Linear interpolation Accelerometer 01 natural sciences Biochemistry Article Analytical Chemistry law.invention Inertial measurement unit law Control theory 0202 electrical engineering electronic engineering information engineering Calibration tri-axis magnetometer calibration gyro auxiliary interpolation linear operation Physics::Atomic Physics Electrical and Electronic Engineering Instrumentation Physics Orientation (computer vision) 020208 electrical & electronic engineering 010401 analytical chemistry Atomic and Molecular Physics and Optics 0104 chemical sciences Physics::Space Physics Interpolation |
| Zdroj: | Sensors (Basel, Switzerland) Sensors; Volume 17; Issue 6; Pages: 1223 |
| ISSN: | 1424-8220 |
| Popis: | Magnetometers combined with inertial sensors are widely used for orientation estimation, and calibrations are necessary to achieve high accuracy. This paper presents a complete tri-axis magnetometer calibration algorithm with a gyro auxiliary. The magnetic distortions and sensor errors, including the misalignment error between the magnetometer and assembled platform, are compensated after calibration. With the gyro auxiliary, the magnetometer linear interpolation outputs are calculated, and the error parameters are evaluated under linear operations of magnetometer interpolation outputs. The simulation and experiment are performed to illustrate the efficiency of the algorithm. After calibration, the heading errors calculated by magnetometers are reduced to 0.5° (1σ). This calibration algorithm can also be applied to tri-axis accelerometers whose error model is similar to tri-axis magnetometers. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|