NDLI: Magnetometer bias calibration based on relative angular position: Theory and experimental comparative evaluation

Content Provider	IEEE Xplore Digital Library
Author	Troni, G. Eustice, R.M.
Copyright Year	2014
Description	Author affiliation: Dept. of Naval Archit. & Marine Eng., Univ. of Michigan, Ann Arbor, MI, USA (Troni, G.; Eustice, R.M.)
Abstract	This paper reports on a novel method for estimating the sensor bias of three-axis magnetometers (or any other field sensor). Our approach employs relative angular position measurements to estimate the three-axis magnetometer measurement bias, significantly improving magnetometer-based attitude estimation. Relative angular position measurements can be calculated from a variety of sources, including multiview image registration or laser-based scan matching. We report two methods implementing this approach based on batch linear least squares and a real-time discrete Kalman filter. Compared with previously reported methods our approach is time independent and less restrictive with data sampling. In addition, our two methods (i) are empirically shown to impose less restrictive conditions for the movements of the instrument required for calibration, (ii) do not require knowledge of the direction of the field (e.g., the local magnetic field) or the attitude of the instrument, and (iii) also ensure convergence for the estimated parameters. The proposed methods are evaluated and compared with previously reported methods in both numerical simulation and in comparative experimental evaluation using cameras and magnetometer sensors under different conditions.
Starting Page	444
Ending Page	450
File Size	3049060
Page Count	7
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6942597
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetometers Magnetic resonance imaging Calibration Estimation Instruments Cameras Real-time systems
Content Type	Text
Resource Type	Article

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