Zhang, Z-Q and Yang, G-Z (2014) Calibration of miniature inertial and magnetic sensor units for robust attitude estimation. IEEE Transactions on Instrumentation and Measurement, 63 (3). pp. 711-718. ISSN 0018-9456
Abstract
Attitude estimation from miniature inertial and magnetic sensors has been used in a wide variety of applications, ranging from virtual reality, underwater vehicles, handheld navigation devices, to biomotion analysis. However, appropriate sensor calibrations for accurate sensor measurements are essential to the performance of attitude estimation algorithms. In this paper, we present a robust sensor calibration method for accurate attitude estimation from three-axis accelerometers, gyroscopes, and magnetometer measurements. The proposed calibration method only requires a simple pan-tilt unit. A unified sensor model for inertial and magnetic sensors is used to convert the sensor readings to physical quantities in metric units. Based on the sensor model, a cost function is constructed, and a two-step iterative algorithm is then proposed to calibrate the inertial sensors. Due to the difficulties of acquiring the ground-truth of the Earth magnetic field, a simplified pseudomagnetometer calibration method is also presented based on an ellipsoid fitting algorithm. The calibration method is then applied to our sensor nodes, and the good performance of the orientation estimation has illustrated the effectiveness of the proposed sensor calibration method.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014 IEEE. This is an author produced version of a paper published in IEEE Transactions on Instrumentation and Measurement. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Calibration, Kalman Filter, miniature sensors, optimization, orientation/attitude |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 08 Jun 2016 12:12 |
Last Modified: | 16 Jan 2018 06:37 |
Published Version: | http://dx.doi.org/10.1109/TIM.2013.2281562 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/TIM.2013.2281562 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:98811 |