Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Calibration of a magnetometer in combination with inertial sensors
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Xsens Technologies B.V., Enschede, the Netherlands.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Show others and affiliations
2012 (English)In: Proceedings of the 15th International Conference on Information Fusion (FUSION), IEEE conference proceedings, 2012, 787-793 p.Conference paper, Oral presentation only (Refereed)
Abstract [en]

Measurements from magnetometers and inertial sensors (accelerometers and gyroscopes) can be combined to give 3D orientation estimates. In order to obtain accurate orientation estimates it is imperative that the magnetometer and inertial sensor axes are aligned and that the magnetometer is properly calibrated for both sensor errors as well as presence of magnetic distortions. In this work we derive an easy-to-use calibration algorithm that can be used to calibrate a combination of a magnetometer and inertial sensors. The algorithm compensates for any static magnetic distortions created by the sensor plat- form, magnetometer sensor errors and determines the alignment between the magnetometer and the inertial sensor axes. The resulting calibration procedure does not require any additional hardware. We make use of probabilistic models and obtain the calibration algorithm as the solution to a maximum likelihood problem. The efficacy of the proposed algorithm is illustrated using experimental data collected from a sensor unit placed in a magnetically disturbed environment onboard a jet aircraft. 

Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 787-793 p.
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:liu:diva-85897ISBN: 978-0-9824438-4-2 (print)OAI: oai:DiVA.org:liu-85897DiVA: diva2:573843
Conference
15th International Conference on Information Fusion (FUSION 2012), 9-12 July 2012, Singapore
Funder
EU, FP7, Seventh Framework Programme, 1933031801Swedish Research Council, 1933011102
Available from: 2012-12-03 Created: 2012-12-03 Last updated: 2012-12-10

Open Access in DiVA

fulltext(822 kB)4190 downloads
File information
File name FULLTEXT01.pdfFile size 822 kBChecksum SHA-512
ab155f5a747b0b533716e75e7e1421436c49c75f3d05a5226a81f0a3de87f628fc7685f27c3b9072bfa2290670b5833ba31d1a991f3bf8d5482d13c182e9ca65
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Kok, ManonSchön, ThomasGustafsson, Fredrik
By organisation
Automatic ControlThe Institute of Technology
Signal Processing

Search outside of DiVA

GoogleGoogle Scholar
Total: 4190 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 1160 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf