Calibration and Alignment of Tri-Axial Magnetometers for Attitude Determination

Li, Xiang; Song, Baiqi; Wang, Yongjun; Niu, Junhao; Li, Zhi

doi:10.1109/jsen.2018.2859832

Cited by 23 publications

(5 citation statements)

References 21 publications

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“…The magnetometer and accelerometer in MPU9250 are calibrated using a calibration scheme based on dual inner products, which can be viewed as an improved ellipsoid fitting method and was detailed in [ 44 ]. Moreover, the gyroscope in MPU9250 is calibrated using a cross product-based algorithm, which was presented in [ 45 ].…”

Section: Methodsmentioning

confidence: 99%

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Wang

2020

Micromachines

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The attitude and heading reference system (AHRS), which consists of tri-axial magnetometer, accelerometer, and gyroscope, has been widely adopted for three-dimensional attitude determination in recent years. It provides an economical means of passive navigation that only relies on gravity and geomagnetic fields. However, despite the advantages of small size, low cost, and low power, the magnetometer and accelerometer are susceptible to external disturbances, such as the magnetic interference from nearby ferromagnetic objects and current-carrying conductors, as well as the motional acceleration of the carrier. To eliminate such disturbances, a vector-based parallel structure is introduced for the attitude filter design, which can avoid the mutual interference between gravity and geomagnetic vectors. Meanwhile, an approach to estimate and compensate the external disturbances in real time for magnetometer and accelerometer is also presented. Compared with existing designs, the proposed filter architecture and external disturbance rejection algorithm can feasibly and effectively cooperate with mainstream data fusion techniques, including complementary filter and Kalman filter. According to experiment results, in the case that large and persistent external disturbances exist, the proposed method can improve the accuracy and robustness of attitude estimation, and it outperforms the existing methods such as switching filter and adaptive filter. Furthermore, through the experiments, the critical role of fading factor in handling the external disturbance is revealed.

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Section: Methodsmentioning

confidence: 99%

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Wang

2020

Micromachines

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“…Since the post-processing of the three-component magnetic survey data needs to be restored to the geographic coordinate, it is particularly important that the attitude data can accurately reflect the orientation of the magnetometer. A series of methods were proposed by Li for calibration of the misalignment between the accelerometer coordinate and the magnetometer coordinate using the property whereby the dot product of the geomagnetic field and gravity field is constant [16,17]. Pang proposed a hexahedrondevice-assisted method to calibrate the misalignment error, but the method depends on the precision of the hexahedron auxiliary device [18].…”

Section: Introductionmentioning

confidence: 99%

Calibration of strapdown magnetic vector measurement systems based on a plane compression method

Cheng

Wang

et al. 2023

Meas. Sci. Technol.

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The strapdown magnetic vector measurement system which can obtain the magnetic vector field and the attitude information simultaneously has widely applied in geophysical prospecting. A high-performance calibration of systematic errors including magnetometer error and misalignment error is essential for this system. The traditional methods calibrate these two errors separately, having the problems of cumbersome steps and be dependent on special data acquisition ways such as rotation, rolling-over, incline, etc. An original method combining plane compression with ellipsoid fitting is proposed in this paper, which can simultaneously complete the calibration calculation of magnetometer error and misalignment error by one experiment. It can be done using a set of attitude-independent spatial scatter point data and no additional mechanical equipment is required. The mathematical analysis of this method has been done to study the elements decreasing the measurement accuracy of the system, and numerical simulation and field experiments are performed to validate the above analysis. The results indicate that the method can do contribution to the accuracy improvement of magnetic vector measurement system.

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“…There are two common error correction methods for magnetic sensors, that is, the vector correction and the scalar correction. The former is first to compare with the known magnetic field vector [10,11] and then makes correction to the measured data. However, it is difficult to obtain high-precision magnetic field vector in practical applications.…”

Section: Introductionmentioning

confidence: 99%

Correction Method of Three-Axis Magnetic Sensor Based on DA–LM

Yang

Zhang

et al. 2022

Metals

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The fluxgate magnetometer has the advantages of having a small volume and low power consumption and being light weight and is commonly used to detect weak magnetic targets, including ferrous metals, unexploded bombs (UXOs), and underground corrosion pipelines. However, the detection accuracy of the fluxgate magnetometer is affected by its own error. To obtain more accurate detection data, the sensor must be error-corrected before application. Previous researchers easily fell into the local minimum when solving error parameters. In this paper, the error correction method was proposed to tackle the problem, which combines the Dragonfly algorithm (DA) and the Levenberg–Marquardt (LM) algorithm, thereby solving the problem of the LM algorithm and improving the accuracy of solving error parameters. Firstly, we analyzed the error sources of the three-axis magnetic sensor and established the error model. Then, the error parameters were solved by using the LM algorithm and DA–LM algorithm, respectively. In addition, by comparing the results of the two methods, we found that the error parameters solved by using the DA–LM algorithm were more accurate. Finally, the magnetic measurement data were corrected. The simulation results show that the DA–LM algorithm can accurately solve the error parameters of the triaxial magnetic sensor, proving the effectiveness of the proposed algorithm. The experimental results show that the difference between the corrected and the ideal total value was decreased from 300 nT to 5 nT, which further verified the effectiveness of the DA–LM algorithm.

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Calibration and Alignment of Tri-Axial Magnetometers for Attitude Determination

Cited by 23 publications

References 21 publications

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Calibration of strapdown magnetic vector measurement systems based on a plane compression method

Correction Method of Three-Axis Magnetic Sensor Based on DA–LM

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