NDLI: An investigation of the effects of magnetic variations on inertial/magnetic orientation sensors

Content Provider	IEEE Xplore Digital Library
Author	Bachmann, E.R. Xiaoping Yun Peterson, C.W.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci. & Syst. Anal., Miami Univ., Oxford, OH, USA (Bachmann, E.R.)
Abstract	Rigid body orientation can be estimated in a "sourceless manner" through the use of small three degree of freedom sensor modules containing orthogonally mounted triads of micromachined angular rate sensors, accelerometers, and magnetometers. With proper filter design, drift errors can be eliminated. However, variations in the direction of the local magnetic field reference vector can cause errors in the estimated orientation. The experimental work described in this paper attempts to quantify these errors with an eye toward the development of corrective algorithms. To determine the types and magnitudes of errors that can be expected, three different types of inertial/magnetic sensor modules were subjected to controlled changes in the direction and magnitude of the local magnetic field. The amount of magnetic variation caused by several common objects was also measured in order to gain insight into the magnitude of errors that can be expected during operation in a typical environment. The experiments indicate that variations in the direction of the local magnetic field lead to errors only in azimuth estimation when using inertial/magnetic sensor modules. In a common room environment, errors due to local variations caused by objects such as electrical heaters, CRT monitors, and metal furniture can be expected to be no more than 16 degrees. In most cases these errors can be avoided by maintaining a separation of approximately two feet from the source of interference.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	1115
Ending Page	1122
File Size	647414
Page Count	8
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1307974
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Magnetic sensors Magnetic separation Magnetic field measurement Error correction Accelerometers Magnetometers Filters Magnetic fields Gain measurement Azimuth
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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