Magnetometer and Gyroscope Calibration Method with Level Rotation

Abstract

Micro electro mechanical system (MEMS) gyroscopes and magnetometers are usually integrated into a sensor module or chip and widely used in a variety of applications. In existing integrated gyroscope and magnetometer calibration methods, rotation in all possible orientations is a necessary condition for a good calibration result. However, rotation around two or more axes is difficult to attain, as it is limited by the range of movement of vehicles such as cars, ships, or planes. To solve this problem, this paper proposes an integrated magnetometer and gyroscope calibration method with level rotation. The proposed method presents a redefined magnetometer output model using level attitude. New gyroscope and magnetometer calibration models are then deduced. In addition, a simplified cubature Kalman filter (CKF) is established to estimate calibration parameters. This method possesses important value for application in actual systems, as it only needs level rotation for real-time calibration of gyroscopes and magnetometers. Theoretical analysis and test results verify the validity and feasibility of this method.

Adaptive Anti-Disturbance Method for Magnetometer and INS Integration in a Road Vehicle

“…Based on this idea, the magnetometer model using angular velocity from the gyroscope needs to be deduced first. The magnetometer measurement model can be expressed as (Wu and Wang, 2018): where is the output from the magnetometer at step k in the b -frame. is the true magnetic field in the n -frame and it can be obtained from the International Geomagnetic Reference Field (IGRF) model (Finlay et al, 2010).…”

“…The calibration precision is improved, but it also increases the calculation burden. For on-line calibration, “attitude-independent” is a classic method (Huang and Jing, 2008; Grandvallet et al, 2014; Draganová et al, 2014; Wu and Wang, 2018). By removing the attitude matrix, this method achieves calibration using only the outputs of the magnetometer.…”

“…By removing the attitude matrix, this method achieves calibration using only the outputs of the magnetometer. In order to improve calibration accuracy and reduce computation burden, many filters are used such as Extended Kalman Filter (EKF) (Grandvallet et al, 2014), neural network and so on (Draganová et al, 2014; Wu and Wang, 2018). Recently, integrated calibration methods combining magnetometer and INS have been developed (Wu et al, 2018b).…”

A Nonlinear Calibration Algorithm Based on Harmonic Decomposition for Two-Axis Fluxgate Sensors

“…There are six typical error sources for two-axis fluxgate sensors, which are zero bias error ${\mathit{b}}_{\mathrm{zb}}$, scale factor error ${\mathit{S}}_{\mathrm{m}}$, non-orthogonal error ${\mathit{C}}_{\mathrm{no}}$, soft iron error ${\mathit{C}}_{\mathrm{si}}$, hard iron error ${\mathit{b}}_{\mathrm{hi}}$, and misalignment error ${\mathit{C}}_{\mathrm{ma}}$ [24]. Each of these errors is discussed next in more detail.…”

New methods in the application of inertial and magnetic sensors in online pattern recognition problems

“…Both sensors can provide information about orientation changes. In the case of accelerometers, the Earth`s gravity vector can be used in stationary positions [62], while the Earth's magnetic field vector is utilized in the case of magnetometers [63][64].…”