Gyroscope Calibration via Magnetometer

Magnetometers, gyroscopes, and accelerometers are commonly used sensors in a variety of applications. This paper proposes a novel gyroscope calibration method in the homogeneous magnetic field by the help of magnetometer. It is shown that, with sufficient rotation excitation, the homogeneous magneti...

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Bibliographic Details
Published in:IEEE sensors journal 2017-08, Vol.17 (16), p.5269-5275
Main Authors: Wu, Yuanxin, Pei, Ling
Format: Article
Language:English
Subjects:
accelerometer
Accelerometers
Calibration
Electrons
Excitation
gyroscope calibration
Gyroscopes
Magnetic field measurement
Magnetic fields
Magnetic sensors
Magnetic separation
Magnetometer calibration
Magnetometers
Misalignment
Sensors
Test procedures
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Summary:Magnetometers, gyroscopes, and accelerometers are commonly used sensors in a variety of applications. This paper proposes a novel gyroscope calibration method in the homogeneous magnetic field by the help of magnetometer. It is shown that, with sufficient rotation excitation, the homogeneous magnetic field vector can be exploited to serve as a good reference for calibrating low-cost gyroscopes. The calibration parameters include the gyroscope scale factor, non-orthogonal coefficient and bias for three axes, as well as its misalignment to the magnetometer frame. Simulation and field test results demonstrate the method's effectiveness.
ISSN:1530-437X
1558-1748
DOI:10.1109/JSEN.2017.2720756