Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik
2017
rozdział w monografii naukowej / referat
angielski
- calibration
- sensor
- IMU
- MARG
- magnetometer
- accelerometer
- frame alignment
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.
450 - 459
20
WoS (15)