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Sensors 2017, 17(4), 832;

Use of the Magnetic Field for Improving Gyroscopes’ Biases Estimation

German Aerospace Center (DLR), Institute of Communications and Navigation, Oberpfaffenhofen, 82234 Wessling, Germany
Electronic Department from the University of Alcalá, E.P.S. Campus Universitario, s/n, 28806 Alcalá de Henares, Spain
Author to whom correspondence should be addressed.
Academic Editor: Jörg F. Wagner
Received: 18 November 2016 / Revised: 31 March 2017 / Accepted: 4 April 2017 / Published: 11 April 2017
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)
Full-Text   |   PDF [14272 KB, uploaded 12 April 2017]   |  


An accurate orientation is crucial to a satisfactory position in pedestrian navigation. The orientation estimation, however, is greatly affected by errors like the biases of gyroscopes. In order to minimize the error in the orientation, the biases of gyroscopes must be estimated and subtracted. In the state of the art it has been proposed, but not proved, that the estimation of the biases can be accomplished using magnetic field measurements. The objective of this work is to evaluate the effectiveness of using magnetic field measurements to estimate the biases of medium-cost micro-electromechanical sensors (MEMS) gyroscopes. We carry out the evaluation with experiments that cover both, quasi-error-free turn rate and magnetic measurements and medium-cost MEMS turn rate and magnetic measurements. The impact of different homogeneous magnetic field distributions and magnetically perturbed environments is analyzed. Additionally, the effect of the successful biases subtraction on the orientation and the estimated trajectory is detailed. Our results show that the use of magnetic field measurements is beneficial to the correct biases estimation. Further, we show that different magnetic field distributions affect differently the biases estimation process. Moreover, the biases are likewise correctly estimated under perturbed magnetic fields. However, for indoor and urban scenarios the biases estimation process is very slow. View Full-Text
Keywords: orientation; pedestrian; perturbed magnetic field; homogeneous magnetic field; inertial navigation orientation; pedestrian; perturbed magnetic field; homogeneous magnetic field; inertial navigation

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Munoz Diaz, E.; de Ponte Müller, F.; García Domínguez, J.J. Use of the Magnetic Field for Improving Gyroscopes’ Biases Estimation. Sensors 2017, 17, 832.

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