A novel magnetometer-accelerometer calibration based on a least squares approach

Ammann, Nikolaus; Derksen, Alexander; Heck, Constantin

doi:10.1109/icuas.2015.7152338

Cited by 20 publications

(11 citation statements)

References 13 publications

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“…All norms in this work are Euclidean norms unless it is stated otherwise. In (6), without loss of generality, we assume the magnitude of the gravity and of the magnetic field are both one. Note that in (5), both T a and f k for the accelerometer and T m and m k for the magnetometer are unknowns and therefore (5) is a quartic cost function as it involves the square of their product.…”

Section: Joint Accelerometer and Magnetometer Calibrationmentioning

confidence: 99%

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Accelerometer and Magnetometer Joint Calibration and Axes Alignment

Papafotis

Sotiriadis

2020

Technologies

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In this work, we propose an algorithm for joint calibration and axes alignment of a 3-axis accelerometer and a 3-axis magnetometer. The proposed algorithm applies when the two sensors are fixed on the same rigid platform. It achieves accurate calibration without requiring any external piece of equipment like a turntable for the accelerometer or Gauss magnetic chamber and Maxwell coils setup for the magnetometer. The efficiency and accuracy of the proposed algorithm are evaluated using experimental data.

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Section: Joint Accelerometer and Magnetometer Calibrationmentioning

confidence: 99%

“…More specifically, many authors exploit the fact that the measured specific force's magnitude should be constant and independent of the sensor's orientation while it is still. Using this fact, they formulate the sensor's calibration, either as an optimization problem [5][6][7][8] or as an estimation one [9].…”

Section: Introductionmentioning

confidence: 99%

Accelerometer and Magnetometer Joint Calibration and Axes Alignment

Papafotis

Sotiriadis

2020

Technologies

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“…As the thermographic camera can be deployed in almost any type of terrain or location, nearby metallic structures or buildings can contribute to this effect and distort the sensed magnetic field, which ideally should only be due to the Earth’s own magnetic field. An effective procedure [ 20 , 21 ] for the magnetometer is imperative to overcome these magnetic interferences and must be carried out periodically to ensure the health of the sensor.…”

Section: Sources Of Error and Limitations Of An Automated Wildfirementioning

confidence: 99%

Challenges of an Autonomous Wildfire Geolocation System Based on Synthetic Vision Technology

Arana

Cabrera-Almeida

Perez-Mato

et al. 2018

Sensors

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Thermographic imaging has been the preferred technology for the detection and tracking of wildfires for many years. Thermographic cameras provide some very important advantages, such as the ability to remotely detect hotspots which could potentially turn into wildfires if the appropriate conditions are met. Also, they can serve as a key preventive method, especially when the 30-30-30 rule is met, which describes a situation where the ambient temperature is higher than 30 ∘C, the relative humidity is lower than 30%, and the wind speed is higher than 30 km/h. Under these circumstances, the likelihood of a wildfire outburst is quite high, and its effects can be catastrophic due to the high-speed winds and dry conditions. If this sort of scenario actually occurs, every possible technological advantage shall be used by firefighting teams to enable the rapid and efficient coordination of their response teams and to control the wildfire following a safe and well-planned strategy. However, most of the early detection methods for wildfires, such as the aforementioned thermographic cameras, lack a sufficient level of automation and usually rely on human interaction, imposing high degrees of subjectivity and latency. This is especially critical when a high volume of data is required in real time to correctly support decision-making scenarios during the wildfire suppression tasks. The present paper addresses this situation by analyzing the challenges faced by a fully autonomous wildfire detection and a tracking system containing a fully automated wildfire georeferencing system based on synthetic vision technology. Such a tool would provide firefighting teams with a solution capable of continuously surveilling a particular area and completely autonomously identifying and providing georeferenced information on current or potential wildfires in real time.

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“…Essentially, it is a nonlinear optimisation problem. At present, optimised algorithms, such as the magnetic deviation algorithm (Basterretxeairibar et al, 2016), least squares algorithm (Alonso and Shuster, 2002; Ammann et al, 2015) and particle swarm algorithm (Ali et al, 2012) have been applied and some progress has been made. However, there are still some shortcomings (Cai et al, 2016; Ge et al, 2017): (1) The random magnetic interference field is usually difficult to model.…”

Section: Introductionmentioning

confidence: 99%

An Improved ICCP Matching Algorithm for use in an Interference Environment during Geomagnetic Navigation

Xiao

Duan

et al. 2019

J. Navigation

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The Iterated Closest Contour Point (ICCP) algorithm is widely used in geomagnetic navigation. In order to enhance the anti-interference performance of the ICCP, an improved algorithm is proposed. First, the principle of delta modulation is introduced to generate a geomagnetic matching sequence according to the magnetic fluctuations, this assists finding the optimal quantitative step and matching length; thus, the algorithm's accuracy and real-time performance are improved. Second, in order to solve the problem of geomagnetic matching under an interference environment, a Probability Data Association (PDA) algorithm based on regenerated measurements is adopted. The ideal magnetic value is regarded as a target, and the measured values within the confidence region are taken as the effective measurements of the target. Each of them will give an estimation of the vehicle's position. Considering the constraints of a vehicle's kinematic performance, its final position can be obtained by fusing all effective estimations with the PDA algorithm. Simulation and semi-physical experiments have verified the feasibility and effectiveness of the proposed algorithm. The Regenerated Measurements (RM)-PDA algorithm shows better performance and can be used in practical applications.

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A novel magnetometer-accelerometer calibration based on a least squares approach

Cited by 20 publications

References 13 publications

Accelerometer and Magnetometer Joint Calibration and Axes Alignment

Accelerometer and Magnetometer Joint Calibration and Axes Alignment

Challenges of an Autonomous Wildfire Geolocation System Based on Synthetic Vision Technology

An Improved ICCP Matching Algorithm for use in an Interference Environment during Geomagnetic Navigation

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