Vector-Aided In-Field Calibration Method for Low-End MEMS Gyros in Attitude and Heading Reference Systems

Li, Xiang; Li, Zhi

doi:10.1109/tim.2014.2313434

Cited by 27 publications

(15 citation statements)

References 19 publications

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“…The magnetometer and accelerometer in MPU9250 are calibrated using a calibration scheme based on dual inner products, which can be viewed as an improved ellipsoid fitting method and was detailed in [ 44 ]. Moreover, the gyroscope in MPU9250 is calibrated using a cross product-based algorithm, which was presented in [ 45 ].…”

Section: Methodsmentioning

confidence: 99%

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

Wang

2020

Micromachines

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The attitude and heading reference system (AHRS), which consists of tri-axial magnetometer, accelerometer, and gyroscope, has been widely adopted for three-dimensional attitude determination in recent years. It provides an economical means of passive navigation that only relies on gravity and geomagnetic fields. However, despite the advantages of small size, low cost, and low power, the magnetometer and accelerometer are susceptible to external disturbances, such as the magnetic interference from nearby ferromagnetic objects and current-carrying conductors, as well as the motional acceleration of the carrier. To eliminate such disturbances, a vector-based parallel structure is introduced for the attitude filter design, which can avoid the mutual interference between gravity and geomagnetic vectors. Meanwhile, an approach to estimate and compensate the external disturbances in real time for magnetometer and accelerometer is also presented. Compared with existing designs, the proposed filter architecture and external disturbance rejection algorithm can feasibly and effectively cooperate with mainstream data fusion techniques, including complementary filter and Kalman filter. According to experiment results, in the case that large and persistent external disturbances exist, the proposed method can improve the accuracy and robustness of attitude estimation, and it outperforms the existing methods such as switching filter and adaptive filter. Furthermore, through the experiments, the critical role of fading factor in handling the external disturbance is revealed.

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Section: Methodsmentioning

confidence: 99%

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

Wang

2020

Micromachines

Self Cite

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“…Then, the measurement data of AHRS and the reference value of the actual motion are compared to evaluate the dynamic measurement error of AHRS. Since the platform’s movement accuracy is high, we use the angle change curve as the reference value to represent the actual movement situation, which is similar to the approaches conducted in [ 27 , 28 ].…”

Section: Ssma Measurement Based On Ahrsmentioning

confidence: 99%

Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles

Zhu

Xiao

et al. 2018

Sensors

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Articulated wheel loaders used in the construction industry are heavy vehicles and have poor stability and a high rate of accidents because of the unpredictable changes of their body posture, mass and centroid position in complex operation environments. This paper presents a novel distributed multi-sensor system for real-time attitude estimation and stability measurement of articulated wheel loaders to improve their safety and stability. Four attitude and heading reference systems (AHRS) are constructed using micro-electro-mechanical system (MEMS) sensors, and installed on the front body, rear body, rear axis and boom of an articulated wheel loader to detect its attitude. A complementary filtering algorithm is deployed for sensor data fusion in the system so that steady state margin angle (SSMA) can be measured in real time and used as the judge index of rollover stability. Experiments are conducted on a prototype wheel loader, and results show that the proposed multi-sensor system is able to detect potential unstable states of an articulated wheel loader in real-time and with high accuracy.

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“…Skog [ 4 ] made use the fact that the norm of the gyroscope output ideally equals to the magnitude of applied rotational velocity. Li [ 5 ] presented a calibration scheme based on the principle that the time derivative of a reference vector can be expressed as the cross product of the angular velocity and the reference vector itself. Nieminen [ 6 ] utilized the standard multi-position method for consumer-grade IMUs’ calibration which also exploits the effect of the centripetal accelerations caused by the table rotation.…”

Section: Introductionmentioning

confidence: 99%

A Novel MEMS Gyroscope In-Self Calibration Approach

Zhou

et al. 2020

Sensors

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This paper presents a novel approach for hand-held low-cost MEMS (micro-electro-mechanical system) gyroscope in-self calibration. This method does not need the support of external high-precision equipment compared with traditional calibration scheme and can be accomplished by user hand rotation. In this approach, Kalman filter is designed to perform the calibration procedure and estimate gyroscope bias error, scale factor error and non-orthogonal error. The system observability is analyzed and the dynamic rotating conditions under which the sensor errors become observable are derived. The design principles of optimal calibration procedure are provided as well. Both simulated and practical experiments are carried out to test the validation of the proposed calibration algorithm. The achieved results demonstrate that the introduced approach can provide promising calibration scheme for the low-cost MEMS gyroscope.

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Vector-Aided In-Field Calibration Method for Low-End MEMS Gyros in Attitude and Heading Reference Systems

Cited by 27 publications

References 19 publications

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

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

Multi-Sensor Based Online Attitude Estimation and Stability Measurement of Articulated Heavy Vehicles

A Novel MEMS Gyroscope In-Self Calibration Approach

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