Magnetic orientation system based on magnetometer, accelerometer and gyroscope

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, mi...

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Bibliographic Details
Published in:CAAI Transactions on Intelligence Technology 2017-12, Vol.2 (4), p.166-172
Main Authors: Chu, Zhiwei, Chen, Chilai, Liu, Youjiang, Wang, Yingxian, Lin, Xinhua
Format: Article
Language:English
Subjects:
A0620H Measurement standards and calibration
A0630G Velocity, acceleration and rotation measurement
A0670D Sensing and detecting devices
A0755 Magnetic instruments and techniques
Accelerometers
Algorithms
Attitudes
B7130 Measurement standards and calibration
B7230 Sensing devices and transducers
B7310L Magnetic variables measurement
B7320E Velocity, acceleration and rotation measurement
Calibration
calibration methods
data fusion algorithm
Data integration
earth magnetic field measurement
error compensation
error-separation method
Geomagnetic field
Gyroscopes
Kalman filtering
Kalman filters
Kinematics
Magnetic fields
magnetic orientation system
Magnetometers
Misalignment
Orientation
Pitch (inclination)
Rolling motion
sensor fusion
Sensors
single-axis magnetometers
Special Issue: Recent Advances in Intelligent Robotic Systems
triaxis accelerometer
triaxis gyroscope
Vehicles
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Summary: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
ISSN:2468-2322
2468-2322
DOI:10.1049/trit.2017.0024