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Magnetometer and Gyroscope Calibration Method with Level Rotation.

Zongkai Wu1, Wei Wang2

  • 1College of Automation, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, China. wuzongkai407@hrbeu.edu.cn.

Sensors (Basel, Switzerland)
|March 2, 2018
PubMed
Summary
This summary is machine-generated.

This study introduces a new calibration method for Micro Electro Mechanical System (MEMS) gyroscopes and magnetometers. It enables accurate calibration using only level rotation, overcoming limitations of previous methods requiring full 3D orientation.

Keywords:
cubature Kalman filter (CKF)level rotationmagnetometer and gyroscope calibration

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Area of Science:

  • Sensor Fusion and Calibration
  • Micro Electro Mechanical Systems (MEMS)

Background:

  • Integrated gyroscopes and magnetometers are crucial for navigation and motion sensing.
  • Existing calibration methods often require complex rotations in all orientations, which is impractical for many vehicle-based applications.

Purpose of the Study:

  • To develop a novel calibration method for integrated MEMS gyroscopes and magnetometers.
  • To overcome the limitations of existing methods by enabling calibration with only level rotation.

Main Methods:

  • Proposed a redefined magnetometer output model based on level attitude.
  • Derived new calibration models for both gyroscope and magnetometer.
  • Utilized a simplified cubature Kalman filter (CKF) for estimating calibration parameters.

Main Results:

  • The proposed method successfully calibrates integrated gyroscopes and magnetometers using only level rotation.
  • Theoretical analysis and experimental tests confirmed the method's validity and feasibility.
  • Demonstrated practical applicability for real-time calibration in systems with limited movement.

Conclusions:

  • The level rotation calibration method offers a significant advancement for MEMS sensor calibration.
  • It provides a practical solution for applications where full 3D rotation is not feasible.
  • The method is valuable for real-time calibration in actual systems like vehicles.