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Magnetometer and Gyroscope Calibration Method with Level Rotation

by Zongkai Wu and Wei Wang *
College of Automation, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, China
Author to whom correspondence should be addressed.
Sensors 2018, 18(3), 748;
Received: 18 January 2018 / Revised: 23 February 2018 / Accepted: 23 February 2018 / Published: 1 March 2018
(This article belongs to the Section Physical Sensors)
Micro electro mechanical system (MEMS) gyroscopes and magnetometers are usually integrated into a sensor module or chip and widely used in a variety of applications. In existing integrated gyroscope and magnetometer calibration methods, rotation in all possible orientations is a necessary condition for a good calibration result. However, rotation around two or more axes is difficult to attain, as it is limited by the range of movement of vehicles such as cars, ships, or planes. To solve this problem, this paper proposes an integrated magnetometer and gyroscope calibration method with level rotation. The proposed method presents a redefined magnetometer output model using level attitude. New gyroscope and magnetometer calibration models are then deduced. In addition, a simplified cubature Kalman filter (CKF) is established to estimate calibration parameters. This method possesses important value for application in actual systems, as it only needs level rotation for real-time calibration of gyroscopes and magnetometers. Theoretical analysis and test results verify the validity and feasibility of this method. View Full-Text
Keywords: level rotation; cubature Kalman filter (CKF); magnetometer and gyroscope calibration level rotation; cubature Kalman filter (CKF); magnetometer and gyroscope calibration
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Wu, Z.; Wang, W. Magnetometer and Gyroscope Calibration Method with Level Rotation. Sensors 2018, 18, 748.

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