Design the Filter to Calibrate of Magnetometers Hard Iron Distortion Error with Sun LOS Vector

摘要：

This paper proposes a method ofcalibrating a magnetometer using the sun line of sight(SLOS) vector. The method uses Kalman filter to estimate magnetometers hard iron distortion error before operating GPS/MAG/INS(GPS and Magnetometer aided Inertial Navigation System). This calibration method needs just once measurement in stationary state, so it is much easier and faster than bidirectional method. The SLOS vector is easily measured by optical sensors like a camera. As weknow the current time and LLA (Latitude, Longitude, Altitude) position, we can find the attitude of SLOS vector using astronomical almanac The attitude of system can be estimated using the attitude information of SLOS vector. So, the filter estimates the error of magnetometer, which is hard iron distortion error, by comparing the north vector calculated from magnetometer with the exact north vector from attitude. In this paper the error and calibration solution of magnetometer has been introduced. And the filter formulation using SLOS vector is proposed. The estimated error has been verified by vehicle test.

关键词： GPS/MAG/INS magnetometer) calibration hard iron distortion error

作者: Lee Hyetan Jang Seah Jang Ryoo Changkyung Choi Keeyoung

作者单位: Department of Aerospace Engineering, Inha University, Incheon, South Korea

会议类型: 国际会议

会议名称: 2010 Asia-Pacific International Symposium on Aerospace Technology(2010 亚太航空航天技术研讨会 APISAT 2010)

会议地点: 西安

会议语种:英文

页码: 682-685

在线出版日期: 2010-09-01（万方平台首次上网日期，不代表论文的发表时间）