Magnetic orientation system based on magnetometer,accelerometer and gyroscope
Magnetic orientation systems have widely been used by measuring earth magnetic field,which provides a pervasive source of directional information.However,to obtain the high precision,we must not only eliminate the various errors of magnetometers like the bias,misalignment and inconsistence in sensitivity,but also diminish the error influence in pitch and roll angles on heading precision before orientation systems are used,especially in dynamic state.In this paper,magnetic orientation system mainly consisting of three single axis magnetometers,a tri-axis accelerometer and a tri-axis gyroscope was developed.An error-separation method was introduced to calibrate magnetometers.Data from magnetometers,accelerometer and gyroscope were fused based on Kalman Filter.In addition,accelerometer and gyroscope were calibrated before data fusion,respectively.Experimental results showed the heading error of magnetic orientation system was about 0.1 ° in static state,and less than 3° in dynamic state,which proved the high efficacy of the calibration methods and data fusion algorithm.
Magnetic Orientation yroscope Calibration alman Filter
Zhiwei Chu Chilai Chen Youjiang Liu Yingxian Wang Xinhua Lin
The State Key Laboratory of Transducer Technology, Hefei Institute of Physical Science, Chinese Acad The State Key Laboratory of Transducer Technology, Hefei Institute of Physical Science, Chinese Acad
国内会议
哈尔滨
英文
598-605
2017-10-01（万方平台首次上网日期，不代表论文的发表时间）