Fast Algebraic Calibration of MEMS Tri-axis Magnetometer for Initial Alignment Using Least Square Method

Magnetometer is an important sensor for attitude estimation in low-cost, high performance navigation systems and the application extends with inertial sensors to indoor navigation, mobile devices, health monitoring, and so on. Magnetometer calibration is an essential procedure before using it. This paper proposes a fast algebraic calibration algorithm without external reference system after obtaining an ellipsoid fitting from arbitrary rotations of MEMS magnetometer, and also proposes a calibrated measurement to calculate heading for initial alignment.

[1]  M. J. Caruso,et al.  Applications of magnetic sensors for low cost compass systems , 2000, IEEE 2000. Position Location and Navigation Symposium (Cat. No.00CH37062).

[2]  Yang Yu,et al.  An Improved Method for the Magnetometer Calibration Based on Ellipsoid Fitting , 2019, 2019 12th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI).

[3]  Konstantinos G. Margaritis,et al.  A Fusion Method for Combining Low-Cost IMU/Magnetometer Outputs for Use in Applications on Mobile Devices , 2018, Sensors.

[4]  Demoz Gebre-Egziabher,et al.  Calibration of Strapdown Magnetometers in Magnetic Field Domain , 2006 .

[5]  Naser El-Sheimy,et al.  A Smartphone Step Counter Using IMU and Magnetometer for Navigation and Health Monitoring Applications , 2017, Sensors.

[6]  Fotis Foukalas,et al.  Wireless Communication Technologies for Safe Cooperative Cyber Physical Systems , 2018, Sensors.

[7]  Youngbin Son,et al.  Interference-Compensating Magnetometer Calibration With Estimated Measurement Noise Covariance for Application to Small-Sized UAVs , 2020, IEEE Transactions on Industrial Electronics.

[8]  Valérie Renaudin,et al.  Complete Triaxis Magnetometer Calibration in the Magnetic Domain , 2010, J. Sensors.

[9]  Wei Zhang,et al.  A Unified Framework for Street-View Panorama Stitching , 2016, Sensors.

[10]  Sangkyung Sung,et al.  Error Calibration of Magnetometer Using Nonlinear Integrated Filter Model With Inertial Sensors , 2009, IEEE Transactions on Magnetics.

[11]  Sébastien Harasse,et al.  Numerical calibration for 3-axis accelerometers and magnetometers , 2009, 2009 IEEE International Conference on Electro/Information Technology.

[12]  John G. Griffiths,et al.  Least squares ellipsoid specific fitting , 2004, Geometric Modeling and Processing, 2004. Proceedings.

[13]  John L. Crassidis,et al.  Real-Time Attitude-Independent Three-Axis Magnetometer Calibration , 2005 .

[14]  Rui Yan,et al.  A MEMS-based Magnetometer Calibration Approach in AUV Navigation System , 2019, OCEANS 2019 - Marseille.

[15]  Andreas Eichhorn,et al.  Accurate 3D Positioning for a Mobile Platform in Non-Line-of-Sight Scenarios Based on IMU/Magnetometer Sensor Fusion , 2018, Sensors.

[16]  Alton B. Moody,et al.  American Practical Navigator , Pub. No. 9 of the United States Defense Mapping Agency Hydrographic Topographic Center, originally by Nathaniel Bowditch. Two volumes, 7 × 10 in (approx. 18 × 26 cm). Vol. I, 1977. Vol. II, 1975. , 1979 .

[17]  Xiaojuan Zhang,et al.  Novel Calibration Algorithm for a Three-Axis Strapdown Magnetometer , 2014, Sensors.

[18]  Bin Li,et al.  Complete Tri-Axis Magnetometer Calibration with a Gyro Auxiliary , 2017, Sensors.

[19]  Carlos Silvestre,et al.  A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame , 2008 .