Magnetic orientation system based on magnetometer, accelerometer and gyroscope

CAAI Transactions on Intelligence Technology

article

Zhiwei Chu¹  Chilai Chen¹  Youjiang Liu¹  Yingxian Wang¹  Xinhua Lin¹ 

[1] State Key Laboratory of Transducer Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences;Department of Automation, School of Information Science and Technology, University of Science and Technology of China;Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province, Hefei Institute of Physical Science, Chinese Academy of Sciences

关键词: magnetometers;    Kalman filters;    gyroscopes;    accelerometers;    sensor fusion;    calibration;    magnetic orientation system;    single-axis magnetometers;    earth magnetic field measurement;    triaxis accelerometer;    triaxis gyroscope;    error compensation;    error-separation method;    Kalman filtering;    calibration methods;    data fusion algorithm;    A0620H Measurement standards and calibration;    A0630G Velocity;    acceleration and rotation measurement;    A0670D Sensing and detecting devices;    A0755 Magnetic instruments and techniques;    B7130 Measurement standards and calibration;    B7230 Sensing devices and transducers;    B7310L Magnetic variables measurement;    B7320E Velocity;    acceleration and rotation measurement;   

DOI  :  10.1049/trit.2017.0024

学科分类：数学（综合）

来源: Wiley

【 摘 要 】

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.

【 授权许可】

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