Residential College | false |
Status | 已發表Published |
A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame | |
J.F. Vasconcelos1; G. Elkaim2; C. Silvestre1; P. Oliveira1; B. Cardeira1 | |
2008 | |
Conference Name | the IFAC Workshop on Navigation, Guidance & Control of Underwater Vehicles 2008 |
Source Publication | IFAC Proceedings Volumes |
Volume | 41 |
Issue | 1 |
Pages | 172-177 |
Conference Date | April 2008. |
Conference Place | Killaloe, Ireland |
Abstract | In this work a new algorithm is derived for the onboard calibration of three-axis strapdown magnetometers. The proposed calibration method is written inthe sensor frame, and compensates for the combined effect of all linear time-invariant distortions, namely soft iron, hard iron, sensor nonorthogonality, and bias, among others. A maximum likelihood estimator (MLE) is formulated to iteratively find the optimal calibration parameters that best fit to the onboard sensor readings, without requiring external attitude references. It is shown that the proposed calibration technique is equivalent to the estimation of arotation, scaling and translation transformation, and that the sensor alignment matrix is given by the solution of the orthogonal Procrustes problem. Good initial conditions for the iterative algorithm are obtained by a suboptimal batch least squares computation. Simulation and experimental results with low-cost sensors data are presented and discussed, supporting the application of the algorithm to autonomous vehicles and other robotic platforms. |
DOI | 10.3182/20080408-3-IE-4914.00031 |
Indexed By | 其他 |
Language | 英語English |
Fulltext Access | |
Citation statistics | |
Document Type | Conference paper |
Collection | Personal research not belonging to the institution |
Affiliation | 1.Institute for Systems and Robotics (ISR), Instituto Superior T´ecnico, Lisbon, Portugal 2.Department of Computer Engineering, University of California SantaCruz, 1156 High St., SantaCruz, CA, 95064 |
Recommended Citation GB/T 7714 | J.F. Vasconcelos,G. Elkaim,C. Silvestre,et al. A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame[C],2008:172-177. |
APA | J.F. Vasconcelos,G. Elkaim,C. Silvestre,P. Oliveira,&B. Cardeira.(2008).A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame.IFAC Proceedings Volumes,41(1),172-177. |
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