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A Novel Magnetometer-Accelerometer Calibration Based on a Least Squares Approach

Ammann, Nikolaus Alexander and Derksen, Alexander and Heck, Constantin (2015) A Novel Magnetometer-Accelerometer Calibration Based on a Least Squares Approach. In: International Conference on Unmanned Aircraft Systems (ICUAS). The 2015 International Conference on Unmanned Aircraft Systems, 09.-12. Juni 2015, Denver, CO, USA.

Full text not available from this repository.

Abstract

In this work a calibration method which is easy to use and is capable of calibrating a combination of a magnetometer and an accelerometer is described. The calibration method accounts for hard and soft iron effects created by the platform, sensor errors like biases, scale factors and non-orthogonalities as well as the relative orientation between the magnetometer and the accelerometer. The algorithm is based on a least squares problem, which is solved using a singular value decomposition. During the calibration process the spatial orientation of the platform is not needed. Therefore no additional hardware is required. The functionality and accuracy of the algorithm is shown using simulated sensor readings.

Item URL in elib:https://elib.dlr.de/96659/
Document Type:Conference or Workshop Item (Speech)
Title:A Novel Magnetometer-Accelerometer Calibration Based on a Least Squares Approach
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478
Derksen, AlexanderFraunhofer MEVISUNSPECIFIED
Heck, ConstantinUniversity of LübeckUNSPECIFIED
Date:2015
Journal or Publication Title:International Conference on Unmanned Aircraft Systems (ICUAS)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Magnetometer, Accelerometer, Calibration, Least Squares, Singular Value Decomposition
Event Title:The 2015 International Conference on Unmanned Aircraft Systems
Event Location:Denver, CO, USA
Event Type:international Conference
Event Dates:09.-12. Juni 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:fixed-wing aircraft
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Systems and Cabin
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Ammann, Nikolaus Alexander
Deposited On:17 Jun 2015 10:43
Last Modified:29 Mar 2017 15:32

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