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Sensors 2017, 17(6), 1223; doi:10.3390/s17061223

Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary

1,2
,
1,2,* , 1,2
,
1,2
and
1,2
1
Department of Precision Instrument, Tsinghua University, Beijing 100084, China
2
State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China
*
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 30 March 2017 / Revised: 22 May 2017 / Accepted: 24 May 2017 / Published: 26 May 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [3940 KB, uploaded 2 June 2017]   |  

Abstract

Magnetometers combined with inertial sensors are widely used for orientation estimation, and calibrations are necessary to achieve high accuracy. This paper presents a complete tri-axis magnetometer calibration algorithm with a gyro auxiliary. The magnetic distortions and sensor errors, including the misalignment error between the magnetometer and assembled platform, are compensated after calibration. With the gyro auxiliary, the magnetometer linear interpolation outputs are calculated, and the error parameters are evaluated under linear operations of magnetometer interpolation outputs. The simulation and experiment are performed to illustrate the efficiency of the algorithm. After calibration, the heading errors calculated by magnetometers are reduced to 0.5° (1σ). This calibration algorithm can also be applied to tri-axis accelerometers whose error model is similar to tri-axis magnetometers. View Full-Text
Keywords: tri-axis magnetometer; calibration; gyro auxiliary; interpolation; linear operation tri-axis magnetometer; calibration; gyro auxiliary; interpolation; linear operation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Yang, D.; You, Z.; Li, B.; Duan, W.; Yuan, B. Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary. Sensors 2017, 17, 1223.

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