A Continuous Positioning Algorithm Based on Differential GNSS Techniques, MARG Sensors, and Barometers with Smartphones

Niu, Zun; Guo, Fei; Shuai, Qiangqiang; Li, Guangchen; Zhu, Bocheng

doi:10.33012/2021.17939

Cited by 1 publication

(1 citation statement)

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“…Moreover, these sensors have been used in sport medicine [11]. In smartphones, attitude information provided by the aforementioned sensors is used in navigation, and position estimation [12][13][14]. In robotics, MARG sensors could be found in medical and rehabilitation robots [15] as well as industrial production robots that include human-machine interface [16].…”

Section: Introductionmentioning

confidence: 99%

Simplification of calibration of low-cost MARG sensors without high-precision laboratory equipment

Sabir¹,

Zakriti²

2023

IRASE

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In mechatronic-related applications, estimating orientation from a magnetic, angular rate, and gravity (MARG) sensor array is a significant topic. Representing attitude orientation is a well-known topic in the aerospace industry, where it plays a critical role in airplanes and unmanned aerial vehicles (UAVs), but it has also gained relevance in other sectors. However, most of the sensors utilized are quite expensive, heavy, and large, making them unsuitable for modest applications. This paper examines the performance of several sensors in low-cost hardware and high-acceleration environments. A theorical method was adopted to estimate Euler angles by using accelerometer, gyroscope and magnetometer, and a robust and easy to implement method calibration was proposed to calibrate the MARG sensor without any external equipment. An experimental verification of the proposed calibration method was completed. The experimental results are then interpreted to provide an insight to advantages and disadvantages for using each sensor separately.

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