롤피치 제한 조건에 강인한 가중 최소자승법 기반 마그네토미터 캘리브레이션 기법
Weighted Least Square-Based Magnetometer Calibration Method Robust in Roll-Pitch Limited Conditions
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초록
Magnetometer calibration must be performed before the use of three-axis magnetometers to ensure the accuracy of orientation esti- mation. Recently, one of the most popular calibration approaches is the ellipsoid fitting technique due to its high performance in cal-ibration. To date, in fact, performances of the existing ellipsoid fitting methods have been evaluated with full range rotation data. However, in case of the calibration of magnetometers attached to vehicles, ships, and planes, it is very difficult to collect the full rangerotation data since their allowable ranges in terms of roll and pitch are limited to small. This constraint may result in serious performancedegradation of some ellipsoid fitting algorithms. Therefore, to be practical, this paper proposes a weighted least square-based mag-netometer calibration method that is robust in roll-pitch limited conditions. Furthermore, the proposed method is a linear approach andthus is free from the well-known initial value issue in nonlinear approaches. Experimental results show the superiority of the proposed method to other ellipsoid-fitting calibration methods.
Abstract
Magnetometer calibration must be performed before the use of three-axis magnetometers to ensure the accuracy of orientation esti- mation. Recently, one of the most popular calibration approaches is the ellipsoid fitting technique due to its high performance in cal-ibration. To date, in fact, performances of the existing ellipsoid fitting methods have been evaluated with full range rotation data. However, in case of the calibration of magnetometers attached to vehicles, ships, and planes, it is very difficult to collect the full rangerotation data since their allowable ranges in terms of roll and pitch are limited to small. This constraint may result in serious performancedegradation of some ellipsoid fitting algorithms. Therefore, to be practical, this paper proposes a weighted least square-based mag-netometer calibration method that is robust in roll-pitch limited conditions. Furthermore, the proposed method is a linear approach andthus is free from the well-known initial value issue in nonlinear approaches. Experimental results show the superiority of the proposed method to other ellipsoid-fitting calibration methods.
참고문헌 (14)
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