Magnetic orientation system based on magnetometer, accelerometer and gyroscope

Abstract

Magnetic orientation systems have widely been used by measuring the earth magnetic field and provide a pervasive source of directional information. However, to obtain the high precision, orientation systems must be compensated prior to use for the various errors of magnetometers such as the bias, misalignment and inconsistence in sensitivity, and the pitch and roll angles, especially in dynamic state. In this study, magnetic orientation system mainly consist of three single-axis magnetometers, a tri-axis accelerometer and a tri-axis gyroscope were developed. An error-separation method was introduced to calibrate magnetometers. Data from magnetometers, accelerometer and gyroscope were fused based on Kalman filtering. In addition, accelerometer and gyroscope were also calibrated before data fusion. Experimental results showed the heading error of magnetic orientation system was about 0.1°in a static state, and <3°in a dynamic state, which proved the effectivities of the calibration methods and data fusion algorithm.

Editorial: Recent advances in intelligent robotic systems

“…The forth paper in this special issue designed a magnetic orientation system by integrating gyroscope, accelerometer, and magnetometer [4]. The Kalman filtering algorithm was utilized to fuse the data from different sensors.…”

Two-Stage Calibration Scheme for Magnetic Measurement System on Guided Munition

“…In the field of navigation technology, the triaxial magnetic measurement system, with the AMR magnetometer as the core sensor which measures the earth’s magnetic field to obtain precise directional information [ 1 ], has been widely applied to vehicle detection [ 2 ], resource exploration [ 3 ], magnetic anomaly detection and navigation [ 4 , 5 , 6 ], due to the advantages of using a magnetometer such as small space occupation, fast response speed, good anti-overload performance, low cost, etc. [ 4 , 7 ]; as well, it is used in guided munitions.…”

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