External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Wang, Yongjun; Li, Zhi; Li, Xiang

doi:10.3390/mi11090803

Cited by 12 publications

(4 citation statements)

References 45 publications

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“…Calibration parameters are estimated and used to remove the errors from the raw data. Figure 7 displays the raw data as well as the final calibrated data, together with the estimation of the ellipsoid and sphere [ 48 ].…”

Section: Experiments and Resultsmentioning

confidence: 99%

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

Yuan

Tang

Zhang

et al. 2023

Sensors

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The application of MEMS accelerometers used to measure inclination is constrained by their temperature dependence, and each accelerometer needs to be calibrated individually to increase stability and accuracy. This paper presents a calibration and thermal compensation method for triaxial accelerometers that aims to minimize cost and processing time while maintaining high accuracy. First, the number of positions to perform the calibration procedure is optimized based on the Levenberg-Marquardt algorithm, and then, based on this optimized calibration number, thermal compensation is performed based on the least squares method, which is necessary for environments with large temperature variations, since calibration parameters change at different temperatures. The calibration procedures and algorithms were experimentally validated on marketed accelerometers. Based on the optimized calibration method, the calibrated results achieved nearly 100 times improvement. Thermal drift calibration experiments on the triaxial accelerometer show that the thermal compensation scheme in this paper can effectively reduce drift in the temperature range of −40 °C to 60 °C. The temperature drifts of x- and y-axes are reduced from −13.2 and 11.8 mg to −0.9 and −1.1 mg, respectively. The z-axis temperature drift is reduced from −17.9 to 1.8 mg. We have conducted various experiments on the proposed calibration method and demonstrated its capacity to calibrate the sensor frame error model (SFEM) parameters. This research proposes a new low-cost and efficient strategy for increasing the practical applicability of triaxial accelerometers.

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Section: Experiments and Resultsmentioning

confidence: 99%

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

Yuan

Tang

Zhang

et al. 2023

Sensors

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show abstract

“…Calibration parameters are estimated and used to remove the errors from the raw data. Figure 6 displays the raw data as well as the final calibrated data, together with the estimation of the ellipsoid and sphere [41]. The LM algorithm was used to estimate the SFEM from the measurement values of the proposed positions.…”

Section: Figure 5 Analysis Of the Calibration Between Acceleration De...mentioning

confidence: 99%

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

Yuan¹,

Tang²,

Zhang³

et al. 2022

Preprint

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This paper presents a calibration and thermal compensation method that aims to minimize cost and processing time while maintaining high accuracy. First, the number of positions to perform the calibration procedure is optimized, and then, based on this optimized calibration number, thermal compensation is performed, which is necessary for environments with large temperature variations, since calibration parameters change at different temperatures. The calibration procedures and algorithms were experimentally validated on marketed accelerometers. Based on the optimized calibration method, the calibrated results have been obtained nearly 100 times improvement. Thermal drift calibration experiments on the triaxial accelerometer show that the thermal compensation scheme in this paper can effectively reduce drift in the temperature range of -40°C to 60°C. The temperature drifts of x- and y-axes are reduced from -13.2 and 11.8 mg to -0.9 and -1.1 mg, respectively. The z-axis temperature drift is reduced from -17.9 to 1.8 mg. We have conducted various experiments on the proposed calibration method and demonstrated its capacity to calibrate the sensor frame error model (SFEM) parameters. Therefore, the MEMS sensors calibrated in this paper have certain engineering application values for tilt measurement.

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“…To suppress acceleration disturbances and magnetic disturbances affecting attitude estimation, various algorithms have been proposed to dynamically adjust sensor fusion weights based on acceleration and magnetic disturbance assessment metrics. Take the parallel algorithm [30] of the acceleration vector and the magnetic vector as an example, which aims to avoid mutual interference between the acceleration vector and the magnetic vector. Furthermore, an improved Kalman filtering algorithm [31] dynamically adjusts covariance matrices to achieve variable fusion in different acceleration and magnetic interference scenarios.…”

Section: Introductionmentioning

confidence: 99%

An improved attitude estimation algorithm for suppressing magnetic vector disturbance based on extended Kalman filter

Zong,

Su,

Gao

et al. 2024

Meas. Sci. Technol.

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This paper proposes an improved attitude estimation algorithm based on the extended Kalman filter (EKF), and it is applied to suppress the accuracy reduction in attitude estimation caused by fusing magnetometer data under large angular motion. In the proposed attitude estimation structure, the approximate variance of the estimated horizontal northbound magnetic vector is used to dynamically adjust the participation of magnetometer data in attitude estimation, as the approximate variance increases significantly under large angular motion and fusing magnetometer data will reduce estimation accuracy. A three-axis position-velocity controlled turntable is used to conduct rocking experiments for validating the proposed attitude estimation algorithm. The results show a significant improvement in yaw angle estimation accuracy with the proposed attitude estimation algorithm and correspondingly enhance the distribution of pitch and roll angle errors.

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External Disturbances Rejection for Vector Field Sensors in Attitude and Heading Reference Systems

Cited by 12 publications

References 45 publications

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

Thermal Calibration of Triaxial Accelerometer for Tilt Measurement

An improved attitude estimation algorithm for suppressing magnetic vector disturbance based on extended Kalman filter

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