Abstract:This article addresses the problem of dynamic on-line estimation and compensation of hard-iron and softiron biases of 3-axis magnetometers under dynamic motion in field robotics, utilizing only biased measurements from a 3-axis magnetometer and a 3-axis angular rate sensor. The proposed magnetometer and angular velocity bias estimator (MAVBE) utilizes a 15-state process model encoding the nonlinear process dynamics for the magnetometer signal subject to angular velocity excursions, while simultaneously estimat… Show more
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