Consistent calibration of magnetometers for nonlinear attitude determination

Kiani, Maryam; Pourtakdoust, Seid H.; Sheikhy, Ali Akbar

doi:10.1016/j.measurement.2015.05.005

Cited by 28 publications

(17 citation statements)

References 21 publications

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“…There are many calibration methods that can be used for magnetometer calibration [ 82 , 83 , 84 , 85 , 86 , 87 , 88 ]. In our case, the magnetometer was calibrated using the neural network algorithm [ 88 ] and noise analysis methodology [ 89 ] developed at our department, which was also applied for the onboard satellite magnetometer calibration, described in detail in [ 88 ], with 500 calibration points of the total magnetic field of 60 μT generated with equal distribution on a virtual sphere surface.…”

Section: Methodsmentioning

confidence: 99%

Indoor Mapping of Magnetic Fields Using UAV Equipped with Fluxgate Magnetometer

Lipovský

Draganová

Novotňák

et al. 2021

Sensors

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Unmanned aerial vehicles (UAVs) are used nowadays in a wide range of applications, including monitoring, mapping, or surveying tasks, involving magnetic field mapping, mainly for geological and geophysical purposes. However, thanks to the integration of ultrasound-aided navigation used for indoor UAV flight planning and development in sensorics, the acquired magnetic field images can be further used, for example, to enhance indoor UAV navigation based on the physical quantities of the image or for the identification of risk areas in manufacturing or industrial halls, where workers can be exposed to high values of electromagnetic fields. The knowledge of the spatial distribution of magnetic fields can also provide valuable information from the perspective of the technical cleanliness. This paper presents results achieved with the original fluxgate magnetometer developed and specially modified for integration on the UAV. Since the magnetometer had a wider frequency range of measurement, up to 250 Hz, the DC (Direct Current) magnetic field and low frequency industrial components could be evaluated. From the obtained data, 3D magnetic field images using spline interpolation algorithms written in the Python programming language were created. The visualization of the measured magnetic field in the 3D plots offer an innovative view of the spatial distribution of the magnetic field in the area of interest.

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Section: Methodsmentioning

confidence: 99%

Indoor Mapping of Magnetic Fields Using UAV Equipped with Fluxgate Magnetometer

Lipovský

Draganová

Novotňák

et al. 2021

Sensors

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“…The error model of geomagnetic sensor can be obtained by introducing equations ( 10)-( 13) into equation (9), as shown in the following formula…”

Section: Error Analysis and Modeling Of Geomagnetic Sensormentioning

confidence: 99%

“…Therefore, the three-axis output of geomagnetic sensor cannot appear as a sphere, but an ellipsoid, so the optimal estimation of parameters in the relationship between input and output is needed for attitude measurement. At present, the method of parameter calibration and error compensation of geomagnetic sensor is usually divided into attitude angle based 9 and attitude independent calibration, 10,11 which will introduce external equipment, which will increase the investment of actual cost. Therefore, this article explores the calibration and error compensation algorithm based on attitude angle.…”

Section: Introductionmentioning

confidence: 99%

Research on error compensation in the process of geomagnetic sensor measurement

Zhang

Wang

Gao

et al. 2021

International Journal of Distributed Sensor Networks

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The geomagnetic sensor is a kind of highly sensitive sensor, which is easy to be interfered with by the outside in the process of measurement. To solve this problem, the author uses the least square method to estimate the gain value and sensitivity product value of the amplification circuit of the geomagnetic sensor and explores the solution of the bias voltage of the geomagnetic sensor by using the ellipsoid fitting model. By analyzing the error sources of the geomagnetic sensors in the measurement process, the error compensation model covering various error factors is constructed. All parameters of the error compensation model are obtained by fitting the experimental data of the turntable. After several experiments with different attitude angles, the validity of the compensation model is verified, and the measurement accuracy of the roll angle is improved, which meets the requirements of roll angle measurement.

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“…Attitude determination or estimation is of significant importance in navigation/guidance/control applications. [1][2][3] Among the many attitude sensors, such as star trackers, 4 magnetormeters, 5 gyros, 6 etc., the global navigation satellite system (GNSS) attitude determination systems, or GNSS attitude sensors, are receiving more and more applications in recent years. [7][8][9][10][11][12] Though originally designed for positioning, GNSS with multiple antennas can also be used to determine attitude, thanks to the use of the precise carrier phase signals.…”

Section: Introductionmentioning

confidence: 99%

A semi-analytical solution to the global navigation satellite system attitude determination problem

Jian-jun

Fan

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part G:

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Global navigation satellite system attitude determination based on carrier phase differencing technique is studied. A realistic stochastic model is followed to fully consider the correlations among different measurements in the least-squares problem formulation. A prior-free, computation-fixed, and averagely optimal solution is proposed suitable for real-time and high-dynamic situations. The prior-free property is achieved by developing an analytical sub-optimal solution. This solution follows first transforming the original problem into one with vector measurements and then further approximating it with a general Wahba’s problem. The fixed computation is guaranteed by performing only one or two rounds of correction of the analytical solution. Every single round follows a linearization-estimation-correction process. The process also provides an error or covariance analysis for the estimate. The average optimality in terms of the root mean squared errors is brought about by the relatively good quality of the analytical solution and the fast convergence of the correction processes. The numerical experiments, with three 4 m long baselines and 5 mm (standard deviation) carrier phase errors, show that the estimation errors (in magnitude) for all three channels are well below 0.4° for almost all epochs and within 0.2° for most epochs.

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Consistent calibration of magnetometers for nonlinear attitude determination

Cited by 28 publications

References 21 publications

Indoor Mapping of Magnetic Fields Using UAV Equipped with Fluxgate Magnetometer

Indoor Mapping of Magnetic Fields Using UAV Equipped with Fluxgate Magnetometer

Research on error compensation in the process of geomagnetic sensor measurement

A semi-analytical solution to the global navigation satellite system attitude determination problem

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