پیوندهای مفید
آمار
| تعداد نشریات | 7 |
| تعداد شماره‌ها | 399 |
| تعداد مقالات | 5,389 |
| تعداد مشاهده مقاله | 5,288,209 |
| تعداد دریافت فایل اصل مقاله | 4,882,950 |
Magnetic Calibration of Three-Axis Strapdown Magnetometers for Applications in Mems Attitude-Heading Reference Systems | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 6، دوره 47، شماره 1، شهریور 2015، صفحه 55-65 اصل مقاله (573.58 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2015.547 | ||
| نویسندگان | ||
| Hamed Milanchian؛ Jafar Keighobadi؛ Hossein Nourmohammadi* | ||
| Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran | ||
| چکیده | ||
| In a strapdown magnetic compass, heading angle is estimated using the Earth's magnetic field measured by Three-Axis Magnetometers (TAM). However, due to several inevitable errors in the magnetic system, such as sensitivity errors, non-orthogonal and misalignment errors, hard iron and soft iron errors, measurement noises and local magnetic fields, there are large error between the magnetometers' outputs and actual geomagnetic field vector. This is the necessity of magnetic calibration of TAM, especially in navigation application to achieve the true heading angle. In this paper, two methodologies, including clustering swinging method and clustering velocity vector method are presented for magnetic compass calibration. Several factors for clustering process have been introduced and analyzed. The algorithms can be applied in both low-cost MEMS magnetometer and high-accuracy magnetic sensors. The proposed calibration algorithms have been evaluated using in-ground and in-flight tests. It can be concluded from the experimental results that, applying the clustering calibration algorithms bring about a considerable enhancement in the accuracy of magnetic heading angle | ||
| کلیدواژه‌ها | ||
| Magnetic Calibration؛ Magnetic heading angle؛ clustering calibration method؛ Swinging method؛ Velocity vector method | ||
| عنوان مقاله [English] | ||
| Magnetic Calibration of Three-Axis Strapdown Magnetometers for Applications in Mems Attitude-Heading Reference Systems | ||
| نویسندگان [English] | ||
| Hamed Milanchian؛ Jafar Keighobadi؛ Hossein Nourmohammadi | ||
| Department of Mechanical Engineering, University of Tabriz, Tabriz, Iran | ||
| چکیده [English] | ||
| In a strapdown magnetic compass, heading angle is estimated using the Earth's magnetic field measured by Three-Axis Magnetometers (TAM). However, due to several inevitable errors in the magnetic system, such as sensitivity errors, non-orthogonal and misalignment errors, hard iron and soft iron errors, measurement noises and local magnetic fields, there are large error between the magnetometers' outputs and actual geomagnetic field vector. This is the necessity of magnetic calibration of TAM, especially in navigation application to achieve the true heading angle. In this paper, two methodologies, including clustering swinging method and clustering velocity vector method are presented for magnetic compass calibration. Several factors for clustering process have been introduced and analyzed. The algorithms can be applied in both low-cost MEMS magnetometer and high-accuracy magnetic sensors. The proposed calibration algorithms have been evaluated using in-ground and in-flight tests. It can be concluded from the experimental results that, applying the clustering calibration algorithms bring about a considerable enhancement in the accuracy of magnetic heading angle | ||
| کلیدواژه‌ها [English] | ||
| Magnetic Calibration, Magnetic heading angle, clustering calibration method, Swinging method, Velocity vector method | ||
| مراجع | ||
|
[1] Alandry, B., et al., “A fully integrated inertial measurement unit: application to attitude and heading determination,” Sensors Journal, IEEE,vol. 11, no. 11, pp. 2852-2860, 2011. [2] Storms, W., J. Shockley, and J. Raquet, “Magnetic field navigation in an indoor environment,” Ubiquitous Positioning Indoor Navigation and Location Based Service (UPINLBS), 2010: IEEE, 2010. [3] Crassidis, J.L., K.-L. Lai, and R.R. Harman,“Real-time attitude-independent three-axis magnetometer calibration,” Journal of Guidance,Control, and Dynamics, vol. 28, no.1, pp. 115-120, 2005. [4] Han, S. and J. Wang, “A novel method to integrate IMU and magnetometers in attitude and heading reference systems,” Journal of Navigation, vol. 64,no. 04, pp. 727-738, 2011. [5] Wahdan, A., et al., “Magnetometer calibration for portable navigation devices in vehicles using a fast and autonomous technique,” Intelligent Transportation Systems, IEEE Transactions on, vol. 15, no. 5, pp. 2347-2352, 2014. [6] Gebre-Egziabher, D., et al., “Calibration of strapdown magnetometers in magnetic field domain,” Journal of Aerospace Engineering, vol.19, no. 2, pp. 87-102, 2006. [7] Wang, J.-H. and Y. Gao, “A new magnetic compass calibration algorithm using neural networks,” Measurement Science and Technology, vol. 17, no. 1, pp. 153, 2006. [8] Kao, W.-W. And C.-L. Tsai, “Adaptive and learning calibration of magnetic compass,” Measurement Science and Technology, vol. 17, no. 11, pp. 3073, 2006. [9] Keighobadi, J., “Fuzzy calibration of a magnetic compass for vehicular applications,” Mechanical Systems and Signal Processing, vol. 25, no. 6, pp.1973-1987, 2011. [10] Wahdan, A., J. Georgy, and A. Noureldin, “Three-Dimensional Magnetometer Calibration with Small Space Coverage for Pedestrians,” Sensors Journal,IEEE, vol. 15, no.1, pp. 598-609, 2015. [11] Li, X. and Z. Li, “A new calibration method for tri-axial field sensors in strap-down navigation systems,” Measurement Science and technology,vol. 23, no. 10, pp. 105105, 2012. [12] Kanatani, K. and P. Rangarajan, “Hyper least squares fitting of circles and ellipses,” Computational Statistics & Data Analysis, vol. 55,no. 6, pp. 2197-2208, 2011. [13] Feng, W., et al., “A calibration method of threeaxis magnetic sensor based on ellipsoid fitting,” J. Inf. Comput. Sci, vol. 10, pp. 1551-1558, 2013. [14] Lou, X., L. Zhou, and Y. Jia, “Realization of Ellipsoid Fitting Calibration for Three-Axis Magnetic Sensor Based on STM32 Embedded System, in Human Centered Computing,” Springer, pp. 717-726, 2015. [15] Titterton, D. and J.L. Weston, “Strapdown inertial navigation technology,” vol. 17: IET, 2004. [16] Li, W. and J. Wang, “Effective adaptive Kalman filter for MEMS-IMU/magnetometers integrated attitude and heading reference systems,” Journal of Navigation, vol. 66, no. 01, pp. 99-113, 2013. [17] Li, W. and J. Wang, “Effective adaptive Kalman filter for MEMS-IMU/magnetometers integrated attitude and heading reference systems,” Journal of Navigation, vol. 66, no. 01, pp. 99-113, 2013. [18] Guo, P., et al. “The soft iron and hard iron calibration method using extended kalman filter for attitude and heading reference system,” Position, Location and Navigation Symposium, IEEE/ION. 2008: IEEE, 2008. [19] Simon, D., Optimal state estimation: Kalman, H infinity, and nonlinear approaches, John Wiley & Sons, 2006. [20] Bevly, D.M., et al., “The use of GPS based velocity measurements for improved vehicle state estimation,” American Control Conference,. Proceedings of the 2000. 2000: IEEE, 2000. | ||
|
آمار تعداد مشاهده مقاله: 1,800 تعداد دریافت فایل اصل مقاله: 3,152 |
||