A Straightforward Calibration and Correction Technique for Inexpensive Attitude and Heading Reference Systems
In the calibration of accelerometers and magnetometers for inexpensive attitude and heading reference systems,due to the lower signal-to-noise ratio of magnetometers,it is not accurate enough to calibrate the error parameters of sensors by using only ellipsoidal fitting.Based on ellipsoid fitting constraints and dot product method,an error parameter calibration and correction method under multi-position conditions is proposed to improve the accuracy of the calibration results.Firstly,15 pairs of low-noise measure-ment data are acquired at static multiple positions and calibrated by the ellipsoid fitting method.Secondly,the data distribution char-acteristics of the compensated magnetometer are used to construct the ellipsoidal constraints,the angle between the geomagnetic vec-tor and horizontal plane is calculated by the dot product method,with a quantitative correction effect of its mean square error.It mod-ifies the non-orthogonal error parameters between the inter-axes of magnetometers with a poor observable ability and the asymmetric error parameters between sensors.Finally,the calibration results are increased.Simulated and measured experimental results show that compared to the ellipsoid fitting and dot product invariant methods under the same ellipsoid fitting constraints,this method re-duces the mean square error of the angle between the geomagnetic vector and horizontal plane by over 25％,and this method has the characteristics of simplicity and ease of use.
万方数据
维普
