Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units

Jakub Tomczyński; Tomasz Mańkowski; Piotr Kaczmarek

doi:10.1007/978-3-319-54042-9_43

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Title

Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units

Authors

Jakub Tomczyński (WE) ^{[ 1 ][ 2.2 ][ P ]}
Tomasz Mańkowski (WE) ^{[ 1 ][ 2.2 ][ P ]}
Piotr Kaczmarek (WE) ^{[ 1 ][ 2.2 ][ P ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2017

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

calibration
sensor
IMU
MARG
magnetometer
accelerometer
frame alignment

Abstract

EN Due to inertial and magnetic sensors imperfections, pre-processing is crucial in obtaining reliable orientation estimates. An easy to implement method of sensor calibration is presented, requiring little to none additional equipment. The method does not need a reference sensor and relies on world magnetic and gravity vectors constant relationship. In addition to standard individual calibration, a cross-sensor reference frame alignment is performed. Comparison with a high-grade MARG unit is also provided. Magnetic inclination stability, inertial and magnetic vector magnitude, and angular error are evaluated.

Pages (from - to)

450 - 459

DOI

10.1007/978-3-319-54042-9_43

URL

https://link.springer.com/chapter/10.1007/978-3-319-54042-9_43

Book

Automation 2017 : Innovations in Automation, Robotics and Measurement Techniques

Presented on

International Conference on Automation, ICA 2017, 15-17.03.2017, Warszawa, Polska

Ministry points / chapter

20