Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary

Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary

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 th...

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Veröffentlicht in:Sensors (Basel, Switzerland) Switzerland), 2017-05, Vol.17 (6), p.1223
Hauptverfasser: Yang, Deng, You, Zheng, Li, Bin, Duan, Wenrui, Yuan, Binwen
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Sprache:eng
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Accelerometers
Algorithms
Calibration
Computer simulation
Error detection
Interpolation
Misalignment
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creator Yang, Deng
You, Zheng
Li, Bin
Duan, Wenrui
Yuan, Binwen
description 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.
doi_str_mv 10.3390/s17061223
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subjects Accelerometers
Algorithms
Calibration
Computer simulation
Error detection
Interpolation
Misalignment
title Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary
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