시변 자기 환경에 강한 자기왜곡 모델 내장형 헤딩 추정 필터
Magnetic Disturbance Model-Embedded Heading Estimation Filter for Time-Varying Magnetic Environments
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초록
With regards to heading estimation using gyroscope and magnetometer signals, magnetic disturbance added in the magnetometer sig- nals is a main degradation factor in the estimation accuracy. Although there are a number of existing mechanisms that may properlycompensate for the magnetic disturbances, they are designed to react only to the magnetic disturbances, but not to the time derivativeof disturbances. Note that the sensors may experience abrupt changes in the magnetic disturbances, particularly for ambulatory appli-cations. This paper proposes a magnetic disturbance model-embedded heading estimation filter for time-varying magnetic environments. The proposed magnetic disturbance model is based on a first-order Markov chain with a conditional switching technique depending onthe time derivative of disturbances. Once a high amount of derivative is detected, the corrupted magnetometer signals are discarded toprotect the filter from them. In our experimental results, the averaged heading error of tests was 1.46°, while that of the original approach without switching was 5.75°.
Abstract
With regards to heading estimation using gyroscope and magnetometer signals, magnetic disturbance added in the magnetometer sig- nals is a main degradation factor in the estimation accuracy. Although there are a number of existing mechanisms that may properlycompensate for the magnetic disturbances, they are designed to react only to the magnetic disturbances, but not to the time derivativeof disturbances. Note that the sensors may experience abrupt changes in the magnetic disturbances, particularly for ambulatory appli-cations. This paper proposes a magnetic disturbance model-embedded heading estimation filter for time-varying magnetic environments. The proposed magnetic disturbance model is based on a first-order Markov chain with a conditional switching technique depending onthe time derivative of disturbances. Once a high amount of derivative is detected, the corrupted magnetometer signals are discarded toprotect the filter from them. In our experimental results, the averaged heading error of tests was 1.46°, while that of the original approach without switching was 5.75°.
참고문헌 (13)
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