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CAAI Transactions on Intelligence Technology Volume 2 ,Issue 4 ,2019-04-29
Magnetic orientation system based on magnetometer, accelerometer and gyroscope
Special Issue: Recent Advances in Intelligent Robotic Systems
Zhiwei Chu 1 , 2 , 3 Chilai Chen 1 , 3 Youjiang Liu 1 , 3 Yingxian Wang 1 , 3 Xinhua Lin 1 , 3
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DOI:10.1049/trit.2017.0024
Received 2017-9-9, accepted for publication 2017-11-20, Published 2017-11-20
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摘要

Magnetic orientation systems have widely been used by measuring the earth magnetic field and provide a pervasive source of directional information. However, to obtain the high precision, orientation systems must be compensated prior to use for the various errors of magnetometers such as the bias, misalignment and inconsistence in sensitivity, and the pitch and roll angles, especially in dynamic state. In this study, magnetic orientation system mainly consist of three single-axis magnetometers, a tri-axis accelerometer and a tri-axis gyroscope were developed. An error-separation method was introduced to calibrate magnetometers. Data from magnetometers, accelerometer and gyroscope were fused based on Kalman filtering. In addition, accelerometer and gyroscope were also calibrated before data fusion. Experimental results showed the heading error of magnetic orientation system was about 0.1° in a static state, and <3° in a dynamic state, which proved the effectivities of the calibration methods and data fusion algorithm.

关键词

data fusion algorithm;calibration methods;Kalman filtering;error-separation method;error compensation;triaxis gyroscope;triaxis accelerometer;earth magnetic field measurement;single-axis magnetometers;magnetic orientation system;calibration;sensor fusion;accelerometers;gyroscopes;Kalman filters;magnetometers

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通讯作者

Xinhua Lin.State Key Laboratory of Transducer Technology, Hefei Institute of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China;Key Laboratory of Biomimetic Sensing and Advanced Robot Technology of Anhui Province, Hefei Institute of Physical Science, Chinese Academy of Sciences, Hefei 230031, People's Republic of China.xhlin@iim.ac.cn

推荐引用方式

Zhiwei Chu,Chilai Chen,Youjiang Liu,Yingxian Wang,Xinhua Lin. Magnetic orientation system based on magnetometer, accelerometer and gyroscope. CAAI Transactions on Intelligence Technology ,Vol.2, Issue 4(2019)

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