Relevant bibliographies by topics / Magnetometer calibration

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Magnetometer calibration'

Author: Grafiati
Published: 4 June 2021
Last updated: 8 February 2022

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Journal articles on the topic "Magnetometer calibration"

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Wu, Helong, Xinbiao Pei, Jihui Li, Huibin Gao, and Yue Bai. "An improved magnetometer calibration and compensation method based on Levenberg–Marquardt algorithm for multi-rotor unmanned aerial vehicle." Measurement and Control 53, no. 3-4 (January 6, 2020): 276–86. http://dx.doi.org/10.1177/0020294019890627.

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In order to improvethe yaw angle accuracy of multi-rotor unmanned aerial vehicle and meet the requirement of autonomous flight, a new calibration and compensation method for magnetometer based on Levenberg–Marquardt algorithm is proposed in this paper. A novel mathematical calibration model with clear physical meaning is established. “Hard iron” error and “Soft iron” error of magnetometer which affect the yaw accuracy of unmanned aerial vehicle are compensated. Initially, Levenberg–Marquardt algorithm is applied to the process of sphere fitting for the original magnetometer data; the optimal estimation of sphere radius and initial “Hard iron” error are obtained. Then, the ellipsoid fitting is performed, and the optimal estimation of “Hard iron” error and “Soft iron” error are obtained. Finally, the calibration parameters are used to compensate for the magnetometer’s output during unmanned aerial vehicle flight. Traditional ellipsoid fitting based on least squares algorithm is taken as reference to prove the effectiveness of the proposed algorithm. Semi-physical simulation experiment proves that the proposed magnetometer calibration method significantly enhances the accuracy of magnetometer. Static test shows that the yaw angle error is reduced from 1.2° to 0.4° when using the proposed calibration model to calibrate magnetometers. In dynamic tests, the sensor MTi’s output is used as reference. The data fusion of magnetometer compensated by the proposed new calibration model based on Levenberg–Marquardt algorithm can accurately track the desired attitude angle. Experimental results indicate that the accuracy of magnetometer in the yaw angle estimation has been greatly enhanced. In the process of attitude estimated, the compensation magnetometer data given by this new method have faster convergence speed, higher accuracy, and better performance than the compensation magnetometer data given by traditional ellipsoid fitting based on least squares algorithm.
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Long, Dafeng, Xiaoming Zhang, Xiaohui Wei, Zhongliang Luo, and Jianzhong Cao. "A Fast Calibration and Compensation Method for Magnetometers in Strap-Down Spinning Projectiles." Sensors 18, no. 12 (November 27, 2018): 4157. http://dx.doi.org/10.3390/s18124157.

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Attitude measurement is an essential technology in projectile trajectory correction. Magnetometers have been used for projectile attitude measurement systems as they are small in size, lightweight, and low cost. However, magnetometers are seriously disturbed by the artillery magnetic field during launch. Moreover, the error parameters of the magnetometers, which are calibrated in advance, usually change after extended storage. The changed parameters have negative effects on attitude estimation of the projectile. To improve the accuracy of attitude estimation, the magnetometers should be calibrated again before launch or during flight. This paper presents a fast calibration method specific for a spinning projectile. At the launch site, the tri-axial magnetometer is calibrated, the parameters of magnetometer are quickly obtained by optimal ellipsoid fitting based on a least squares criterion. Then, the calibration parameters are used to compensate for magnetometer outputs during flight. The numerical simulation results show that the proposed calibration method can effectively determine zero bias, scale factors, and alignment angle errors. Finally, a semi-physical experimental system was designed to further verify the performance of the calibration method. The results show that pitch angle error reduces from 3.52° to 0.58° after calibration. The roll angle error is reduced from 2.59° to 0.65°. Simulations and experimental results indicate that the accuracy of magnetometer in strap-down spinning projectile has been greatly enhanced, and the attitude estimation errors are reduced after calibration.
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Razavi, Hamidreza, Hassan Salarieh, and Aria Alasty. "Optimization-based gravity-assisted calibration and axis alignment of 9-degrees of freedom inertial measurement unit without external equipment." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 234, no. 2 (July 15, 2019): 192–207. http://dx.doi.org/10.1177/0954410019861778.

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Applicable in numerous fields, low-cost micro-electromechanical system inertial measurement units often require on-sight calibration by the end user due to the existence of systematic errors. A 9-degrees of freedom inertial measurement unit comprises a tri-axis accelerometer, a tri-axis gyroscope, and a tri-axis magnetometer. Various proposed multi-position calibration methods can calibrate tri-axis accelerometers and magnetometers to a degree. Yet the full calibration of a tri-axis gyroscope and axis alignment of all the sensors still often requires equipment such as a rate table to generate a priori known angular velocities and attitudes or relies on the disturbance-prone magnetometer output as a reference. This study proposes an augmentation to the popular multi-position calibration scheme, capable of fully calibrating and aligning the sensor axes of the 9-degrees of freedom inertial measurement unit while eliminating the reliance on external equipment or magnetometer. The algorithm does not rely on the inertial measurement unit attitude during various stages of the multi-position data acquisition. Instead, it uses the gravity vector measured by the accelerometer to calibrate the gyroscope and align the magnetometer axes with the sensor body frame. Experimental results using a navigation module with factory calibration and extensive simulation results indicate the current method's ability in estimating large calibration parameters with relative errors below 0.5%.
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Cao, Guocan, Xiang Xu, and Dacheng Xu. "Real-Time Calibration of Magnetometers Using the RLS/ML Algorithm." Sensors 20, no. 2 (January 18, 2020): 535. http://dx.doi.org/10.3390/s20020535.

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This study presents a new real-time calibration algorithm for three-axis magnetometers by combining the recursive least square (RLS) estimation and maximum likelihood (ML) estimation methods. Magnetometers are widely employed to determine the heading information by sensing the magnetic field of earth; however, they are vulnerable to ambient magnetic disturbances. This makes the calibration of a magnetometer inevitable before it is employed. In this paper, first, a complete measurement error model of the magnetometer is studied, and a simplified model is developed. Then, the real-time RLS algorithm is introduced and discussed in detail, and the unbiased optimal ML is utilized to improve the accuracy of the parameter estimation. The proposed algorithm is advantageous in correcting the parameters in real time and simultaneously obtaining unbiased parameter estimation. Finally, the simulation and experimental results demonstrate that both the accuracy and computational speed of the proposed algorithm is better than those of the widely used bath-processing method. Moreover, the proposed calibration method can be adopted for calibrating other three-axis sensors.
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Zhang, Xiaoming, Chen Lei, Jun Liu, Jie Li, Jie Tan, Chen Lu, Zheng-Zheng Chao, and Yu-Zhang Wan. "Real-time calibration algorithm of magnetometer for spinning projectiles." Sensor Review 40, no. 2 (September 26, 2019): 227–36. http://dx.doi.org/10.1108/sr-04-2018-0088.

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Purpose In spite of the vehicle, magnetic field interference can be reduced by some measures and techniques in ammunition design and manufacturing stage, the corruption of the vehicle magnetic field can still reach hundreds to thousands of nanoteslas. Besides, the magnetic field that the ferromagnetic materials generate in response to the strong magnetic field in the vicinity of the body. So, a real-time and accurate vehicle magnetic field calibration method is needed to improve the real-time measurement accuracy of the geomagnetic field for spinning projectiles. Design/methodology/approach Unlike the past two-step calibration method, the algorithm uses a linear model to calibrate the magnetic measurement error in real-time. In the method, the elliptical model of magnetometer measurement is established to convert the coefficients of hard and soft iron errors into the parameters of the elliptic equation. Then, the parameters are estimated by recursive least square estimator in real-time. Finally, the initial conditions for the estimator are established using prior knowledge method or static calibration method. Findings Studies show the proposed algorithm has remarkable estimation accuracy and robustness and it realizes calibration the magnetic measurement error in real-time. A turntable experiments indicate that the post-calibration residuals approximate the measurement noise of the magnetometer and the roll accuracy is better than 1°. The algorithm is restricted to biaxial magnetometers’ calibration in real-time as expressed in this paper. It, however, should be possible to broaden this method’s applicability to triaxial magnetometers' calibration in real-time. Originality/value Unlike the past two-step calibration method, the algorithm uses a linear model to calibrate the magnetic measurement error in real-time and the calculation is small. Besides, it does not take up storage space. The proposed algorithm has remarkable estimation accuracy and robustness and it realizes calibration the magnetic measurement error in real time. The algorithm is restricted to biaxial magnetometers’ calibration in real-time as expressed in this paper. It, however, should be possible to broaden this method’s applicability to triaxial magnetometers’ calibration in real-time.
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Wu, Yuanxin, and Ling Pei. "Gyroscope Calibration via Magnetometer." IEEE Sensors Journal 17, no. 16 (August 15, 2017): 5269–75. http://dx.doi.org/10.1109/jsen.2017.2720756.

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Li, Long, and Zhang He. "Automatic Calibration of the 3D Vector Magnetometer." Advanced Materials Research 591-593 (November 2012): 1256–59. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.1256.

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Embedded sensors are an emerging trend in mobile consumer devices. In this work a new algorithm is derived for the onboard calibration of three-axis magnetometers. The proposed calibration method is written in the sensor frame, and compensates for the combined effect of all linear time-invariant distortions, namely soft iron, hard iron, three-dimensional sensor non-orthogonally, scale factors, null-shift, arbitrary bias, among others. The new algorithm can be separated into two steps: In the first step, obtain the ellipsoid fitting parameters from comparing the difference between the measured value and the actual vector. In a second step, a calibration algorithm is adopted to compensate for magnetometers distortions. According to the model parameters the measured data is corrected to improve the precision of magnetometer. Simulation and experimental results with sensors data are presented and discussed, supporting the application of the algorithm to commercial and military platforms.
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Renaudin, Valérie, Muhammad Haris Afzal, and Gérard Lachapelle. "Complete Triaxis Magnetometer Calibration in the Magnetic Domain." Journal of Sensors 2010 (2010): 1–10. http://dx.doi.org/10.1155/2010/967245.

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This paper presents an algorithm for calibrating erroneous tri-axis magnetometers in the magnetic field domain. Unlike existing algorithms, no simplification is made on the nature of errors to ease the estimation. A complete error model, including instrumentation errors (scale factors, nonorthogonality, and offsets) and magnetic deviations (soft and hard iron) on the host platform, is elaborated. An adaptive least squares estimator provides a consistent solution to the ellipsoid fitting problem and the magnetometer's calibration parameters are derived. The calibration is experimentally assessed with two artificial magnetic perturbations introduced close to the sensor on the host platform and without additional perturbation. In all configurations, the algorithm successfully converges to a good estimate of the said errors. Comparing the magnetically derived headings with a GNSS/INS reference, the results show a major improvement in terms of heading accuracy after the calibration.
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McGrath, Timothy, and Leia Stirling. "Body-Worn IMU Human Skeletal Pose Estimation Using a Factor Graph-Based Optimization Framework." Sensors 20, no. 23 (December 2, 2020): 6887. http://dx.doi.org/10.3390/s20236887.

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Traditionally, inertial measurement units- (IMU) based human joint angle estimation requires a priori knowledge about sensor alignment or specific calibration motions. Furthermore, magnetometer measurements can become unreliable indoors. Without magnetometers, however, IMUs lack a heading reference, which leads to unobservability issues. This paper proposes a magnetometer-free estimation method, which provides desirable observability qualities under joint kinematics that sufficiently excite the lower body degrees of freedom. The proposed lower body model expands on the current self-calibrating human-IMU estimation literature and demonstrates a novel knee hinge model, the inclusion of segment length anthropometry, segment cross-leg length discrepancy, and the relationship between the knee axis and femur/tibia segment. The maximum a posteriori problem is formulated as a factor graph and inference is performed via post-hoc, on-manifold global optimization. The method is evaluated (N = 12) for a prescribed human motion profile task. Accuracy of derived knee flexion/extension angle (4.34∘ root mean square error (RMSE)) without magnetometers is similar to current state-of-the-art with magnetometer use. The developed framework can be expanded for modeling additional joints and constraints.
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Plaschke, Ferdinand, Hans-Ulrich Auster, David Fischer, Karl-Heinz Fornaçon, Werner Magnes, Ingo Richter, Dragos Constantinescu, and Yasuhito Narita. "Advanced calibration of magnetometers on spin-stabilized spacecraft based on parameter decoupling." Geoscientific Instrumentation, Methods and Data Systems 8, no. 1 (February 12, 2019): 63–76. http://dx.doi.org/10.5194/gi-8-63-2019.

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Abstract. Magnetometers are key instruments on board spacecraft that probe the plasma environments of planets and other solar system bodies. The linear conversion of raw magnetometer outputs to fully calibrated magnetic field measurements requires the accurate knowledge of 12 calibration parameters: six angles, three gain factors, and three offset values. The in-flight determination of 8 of those 12 parameters is enormously supported if the spacecraft is spin-stabilized, as an incorrect choice of those parameters will lead to systematic spin harmonic disturbances in the calibrated data. We show that published equations and algorithms for the determination of the eight spin-related parameters are far from optimal, as they do not take into account the physical behavior of science-grade magnetometers and the influence of a varying spacecraft attitude on the in-flight calibration process. Here, we address these issues. Based on decade-long developments and experience in calibration activities at the Braunschweig University of Technology, we introduce advanced calibration equations, parameters, and algorithms. With their help, it is possible to decouple different effects on the calibration parameters, originating from the spacecraft or the magnetometer itself. A key point of the algorithms is the bulk determination of parameters and associated uncertainties. The lowest uncertainties are expected under parameter-specific conditions. By application to THEMIS-C (Time History of Events and Macroscale Interactions during Substorms) magnetometer measurements, we show where these conditions are fulfilled along a highly elliptical orbit around Earth.
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Dissertations / Theses on the topic "Magnetometer calibration"

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Mohamadabadi, Kaveh. "Anisotropic Magnetoresistance Magnetometer for inertial navigation systems." Phd thesis, Ecole Polytechnique X, 2013. http://tel.archives-ouvertes.fr/tel-00946970.

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This work addresses the relevant errors of the anisotropic magnetoresistance sensor for inertial navigation systems. The manuscript provides resulting guidelines and solution for using the AMR sensors in a robust and appropriate way relative to the applications. New methods also are proposed to improve the performance and, reduce the power requirements and cost design of the magnetometer. The new compensation method is proposed by developing an optimization algorithm. The necessity of the sensor calibration is shown and the source of the errors and compensating model are investigated. Two novel methods of indoor calibration are proposed and examples of operating systems are presented.
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Yin, Fan. "Mathematic approaches for the calibration of the CHAMP satellite magnetic field measurements." Phd thesis, Universität Potsdam, 2010. http://opus.kobv.de/ubp/volltexte/2010/4120/.

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CHAMP (CHAllenging Minisatellite Payload) is a German small satellite mission to study the earth's gravity field, magnetic field and upper atmosphere. Thanks to the good condition of the satellite so far, the planned 5 years mission is extended to year 2009. The satellite provides continuously a large quantity of measurement data for the purpose of Earth study. The measurements of the magnetic field are undertaken by two Fluxgate Magnetometers (vector magnetometer) and one Overhauser Magnetometer (scalar magnetometer) flown on CHAMP. In order to ensure the quality of the data during the whole mission, the calibration of the magnetometers has to be performed routinely in orbit. The scalar magnetometer serves as the magnetic reference and its readings are compared with the readings of the vector magnetometer. The readings of the vector magnetometer are corrected by the parameters that are derived from this comparison, which is called the scalar calibration. In the routine processing, these calibration parameters are updated every 15 days by means of scalar calibration. There are also magnetic effects coming from the satellite which disturb the measurements. Most of them have been characterized during tests before launch. Among them are the remanent magnetization of the spacecraft and fields generated by currents. They are all considered to be constant over the mission life. The 8 years of operation experience allow us to investigate the long-term behaviors of the magnetometers and the satellite systems. According to the investigation, it was found that for example the scale factors of the FGM show obvious long-term changes which can be described by logarithmic functions. The other parameters (offsets and angles between the three components) can be considered constant. If these continuous parameters are applied for the FGM data processing, the disagreement between the OVM and the FGM readings is limited to pm1nT over the whole mission. This demonstrates, the magnetometers on CHAMP exhibit a very good stability. However, the daily correction of the parameter Z component offset of the FGM improves the agreement between the magnetometers markedly. The Z component offset plays a very important role for the data quality. It exhibits a linear relationship with the standard deviation of the disagreement between the OVM and the FGM readings. After Z offset correction, the errors are limited to pm0.5nT (equivalent to a standard deviation of 0.2nT). We improved the corrections of the spacecraft field which are not taken into account in the routine processing. Such disturbance field, e.g. from the power supply system of the satellite, show some systematic errors in the FGM data and are misinterpreted in 9-parameter calibration, which brings false local time related variation of the calibration parameters. These corrections are made by applying a mathematical model to the measured currents. This non-linear model is derived from an inversion technique. If the disturbance field of the satellite body are fully corrected, the standard deviation of scalar error triangle B remains about 0.1nT. Additionally, in order to keep the OVM readings a reliable standard, the imperfect coefficients of the torquer current correction for the OVM are redetermined by solving a minimization problem. The temporal variation of the spacecraft remanent field is investigated. It was found that the average magnetic moment of the magneto-torquers reflects well the moment of the satellite. This allows for a continuous correction of the spacecraft field. The reasons for the possible unknown systemic error are discussed in this thesis. Particularly, both temperature uncertainties and time errors have influence on the FGM data. Based on the results of this thesis the data processing of future magnetic missions can be designed in an improved way. In particular, the upcoming ESA mission Swarm can take advantage of our findings and provide all the auxiliary measurements needed for a proper recovery of the ambient magnetic field.
CHAMP (CHAllenging Minisatellite Payload) ist eine deutsche Kleinsatellitenmission für die Forschung und Anwendung in Bereich der Geowissenschaften und Atmosphärenphysik. Das Projekt wird vom GFZ geleitet. Mit seinen hochgenauen, multifunktionalen, sich ergänzenden Nutzlastelementen (Magnetometer, Akzelerometer, Sternsensor, GPS-Empfänger, Laser-Retroreflektor, Ionendriftmeter) liefert CHAMP erstmalig gleichzeitig hochgenaue Schwere- und Magnetfeldmessungen (seit Mitte 2000). Dank des bisherigen guten Zustandes des Satelliten ist die auf 5 Jahre ausgelegte Mission bis 2009 verlängert geworden. An Board befinden sich ein skalares Overhauser-Magnetometer(OVM) für Kalibrierungszwecke sowie zwei Fluxgate-Magnetometer(FGM) zur Messung des magnetischen Feldvektors. Die Messungen vom FGM werden immer verglichen mit denen vom OVM und korregiert im Fall von Widersprüche, das ist die sog. Skalar-Kalibrierung. Um eine zuverlässige Datenqualität während der 8 jährigen Mission zu garantieren, ist die Nachkalibrierung implementiert. Im Rahmen der standard mäßigen Datenverarbeitung werden die Instrumentenparameter des FGM alle 15 Tage neu bestimmt. Das Ziel der vorliegenden Arbeit ist es, eine Verbesserung der Vektormagnetfelddaten zu erzielen durch eine neue Methode der Kalibrierung, die die Eigenschaften der Sensoren und Störung vom Raumfahrzeug mit berücksichtigt. Die Erfahrung aus den zurückliegenden Jahren hat gezeigt, dass sich die Skalenfaktoren des FGM stark mit der Zeit ändern. Dieser Verlauf lässt sich gut durch eine Logarithmuskurve anpassen. Andere Parameter wie die Winkel und die Offsets scheinen stabil zu sein. Eine Ausnahme macht der Offset der Z-Komponent. Dieser bedarf einer regelmäßigen Korrektur. Während die Standardverarbeitung eine undifferenzierte Bestimmung aller 9 FGM Parameter durch nicht-lineare Inversion der skalar Daten vornimmt, beziehen wir jetzt die langzeitlichen Eigenschaften der Parameter in die Bestimmung mit ein. Eine weitere Verbesserung der CHAMP-Magnetfelddaten konnte erreicht werden durch geeignete Berücksichtigung von Störung vom Raumfahrzeug. Die verbleibenden Unsicherheiten konnten durch diese Maßnahmen auf eine Standardabweichung von 0.1nT reduziert werden.
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Angelini, Virginia. "Study of the calibration roll plan for the offset determination of the JUICE magnetometer." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.

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JUICE is a future ESA mission exploring Jupiter's system and in particular investigating Ganymede's environment. One of the most important instruments of the spacecraft is the magnetometer, which allows to study Ganymede's ocean. The magnetometer needs a precise calibration to provide accurate measurements, thus roll campaigns to determine its offset needs to be done during the mission. This thesis focuses on the analysis of the different versions of the trajectory of JUICE to verify whether the requirements reported in the calibration plan written by ESA are satisfied and to examine the variation of the direction of the magnetic field vector B along a single roll of the spacecraft. The roll campaigns for each trajectory characterized by the lowest variation of the direction of B have been identified as the optimum campaigns. Then they have been compared to determine the best trajectory version to choose concerning the calibration phase along the orbit. A modification of the calibration plan has been proposed in order to decrease significantly the variation of the direction of B: performing non-consecutive rolls. CReMA 3.0 is showed to be the best version both considering a roll rate of 0.05 deg/s and 0.07 deg/s and both executing consecutive and non-consecutive rolls.
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Sanità, Lorenzo. "Optimising in-flight calibration approach for the magnetometer experiment on the ESA JUICE mission." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/21545/.

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In this study the main aim has been to analyse and improve some important aspects of the in-flight calibration process for the three Earth fly-bys planned for the ESA JUICE space mission. In fact it has been developed a calibration script that is capable to correct uncalibrated data from the misallignment and scaling errors towards the expected values of magnetic field from IGRF13 model. Also the experimental process of reproduction of the magnetic field data from JUICE Earth fly-bys prooved the efficiency of the script to control the instrumentation for the gain control during the in-flight calibration. It has also been proved the low influece of the Soft Iron effect on the intrumentation, helping then to reduce the errors associated to misallignments and to the sensors offsets.
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Foley, Justin Dean. "Calibration and Characterization of Cubesat Magnetic Sensors Using a Helmholtz Cage." DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/903.

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Small satellites, and CubeSats in particular, have quickly become a hot topic in the aerospace industry. Attitude determination is currently one of the most intense areas of development for these miniaturized systems and future Cal Poly satellite missions will depend heavily on magnetometers. In order to utilize magnetometers as a viable source of attitude knowledge, precise calibration is required to ensure the greatest accuracy achievable. This paper outlines a procedure for calibrating and testing magnetometers on the next generation of Cal Poly CubeSates, utilizing a Helmholtz cage to simulate any desired orbital magnetic field that would be experienced by a spacecraft around Earth, as well as investigation of magnetic interference as a result of on-board electrical activity.
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Pope, Charles. "Calibration and Uncertainty Analysis of a Spacecraft Attitude Determination Test Stand." Thesis, Luleå tekniska universitet, Rymdteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-62603.

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Experimental testing of attitude determination systems still plays an important role, despite increasing use of simulations. Testing provides a means to numerically quantify system performance, give confidence in the models and methods, and also discover and compensate for unexpected behaviours and interactions with the attitude determination system. The usefulness of the test results is dependent on an understanding of the uncertainties that contribute to the attitude error. With this understanding, the significance of the results can be assessed, and efforts to reduce attitude errors can be directed appropriately. The work of this thesis is to gain a quantitative understanding of the uncertainties that impact the attitude error of low cost spinning spacecraft using COTS camera (as Sun sensor) and MEMS magnetometer. The sensors were calibrated and the uncertainties in these calibrations were quantified, then propagated through the Triad method to uncertainties in the attitude. It was found that most systematic errors were reduced to negligible levels, except those due to timing latencies. Attitude errors achieved in the laboratory with the experimental setup were around 0.14 degrees (3σ) using either the Triad, q-method or Extended Kalman Filter with a gyro for dynamic model replacement. The errors in laboratory were dominated by magnetometer noise. Furthermore, correlated systematic errors had the effect of reducing the attitude error calculated in the laboratory. For an equivalent Sun-mag geometry in orbit, simulation showed that total attitude error would be of the order of 0.77 degrees (3σ). An uncertainty contribution analysis revealed this error was dominated by uncertainties in the inertial magnetic field model. Uncertainties in knowledge of the inertial Sun model, sensor calibration, sensor alignment and sensor noise were shown to be insignificant in comparison.
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Meng, Rui Daniel. "Design and implementation of sensor fusion for the towed synthetic aperture sonar." Thesis, University of Canterbury. Electrical and Computer Engineering, 2007. http://hdl.handle.net/10092/1199.

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For synthetic aperture imaging, position and orientation deviation is of great concern. Unknown motions of a Synthetic Aperture Sonar (SAS) can blur the reconstructed images and degrade image quality considerably. Considering the high sensitivity of synthetic aperture imaging technique to sonar deviation, this research aims at providing a thorough navigation solution for a free-towed synthetic aperture sonar (SAS) comprising aspects from the design and construction of the navigation card through to data postprocessing to produce position, velocity, and attitude information of the sonar. The sensor configuration of the designed navigation card is low-cost Micro-Electro-Mechanical-Systems (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors including three angular rate gyroscopes, three dual-axial accelerometers, and a triaxial magnetic hybrid. These MARG sensors are mounted orthogonally on a standard 180mm Eurocard PCB to monitor the motions of the sonar in six degrees of freedom. Sensor calibration algorithms are presented for each individual sensor according to its characteristics to precisely determine sensor parameters. The nonlinear least square method and two-step estimator are particularly used for the calibration of accelerometers and magnetometers. A quaternion-based extended Kalman filter is developed based on a total state space model to fuse the calibrated navigation data. In the model, the frame transformations are described using quaternions instead of other attitude representations. The simulations and experimental results are demonstrated in this thesis to verify the capability of the sensor fusion strategy.
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Metge, Julien. "Etude de la calibration et de l'intégration sur mini-drone d'un système caméra-capteurs inertiels et magnétiques et ses applications." Thesis, Bordeaux, 2014. http://www.theses.fr/2014BORD0358/document.

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Cette thèse aborde le problème de la calibration d’un ensemble de capteurscomposé d’une centrale inertielle, d’un magnétomètre et d’une caméra, avecpour objectif leur intégration sur un système très compact : un mini-drone.Cette étude expose tout d’abord les contraintes imposées par l’application surle choix des capteurs et les solutions envisagées notamment pour résoudre leproblème de la synchronisation des mesures. Après avoir étudié les techniquesde calibration existantes, une méthode permettant la calibration de l’ensembledes capteurs (accéléromètre, gyromètre, magnétomètre et caméra) est présentée.La solution proposée permet également d’estimer les changements de repèresentre les différents capteurs. Elle a la particularité de ne nécessiter l’emploid’aucun matériel particulier. D’autre part, l’intégration de ces capteurs dans unsystème aussi compact soulève de nouvelles difficultés. Dans ces conditions, leschamps magnétiques créés par les actionneurs du drone perturbent les mesuresdu magnétomètre se trouvant à proximité. Une nouvelle méthode est proposéeafin d’estimer et de compenser dynamiquement ces perturbations magnétiquesen fonction de l’état des actionneurs du drone. Enfin, deux applications dusystème comprenant une centrale inertielle et une caméra sont présentées :la construction de mosaïques d’images géo-référencées et la stabilisation devidéos. Ces deux applications exploitent les mesures des capteurs inertiels afind’effectuer un traitement en temps réel pour un coût calculatoire très faible
This thesis deal with the issue of the calibration of a group of sensor composedof an inertial unit, a magnetometer and a camera. It aims at integratingthem into a very compact system : a mini-drone. First of all, this study outlinesthe constraints imposed by the application on the choice of the sensors andthe solutions considered to solve the measures synchronization issue. Afterstudying existing calibration techniques, a method for the calibration of allthe sensors (accelerometer, gyroscope, magnetometer and camera) is presented.The proposed solution allows to estimate the frame transformation between thedifferent sensors. It has the advantage of not requiring the use of any specialequipment. Furthermore, the integration of these sensors into a compact systemraises new difficulties. Under these conditions, the magnetic fields created bythe drone actuators disrupt magnetometer measurements. A new method isproposed to estimate and compensate for these magnetic disturbances. Thecompensation is dynamically adapted based on the state of the drone actuators.Finally, two applications of the system including an inertial unit and a cameraare presented : the construction of geo-referenced images mosaic and videostabilization. Both applications use measurements of inertial sensors and precisecalibration to perform a real-time processing for a very low computational cost
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Váňa, Dominik. "Využití uměle vytvořeného slabého magnetického pole pro navigaci ve 3D prostoru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2020. http://www.nusl.cz/ntk/nusl-413205.

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This master's thesis focuses on the utilization of an artificially created weak magnetic field for navigation in 3D space. The theoretical part of this work deals with the general properties of the magnetic field and with its description. The next section of the theoretical part contains an overview of measuring principles for magnetic field measurements. Based on various types of measuring principles, the thesis elaborates on commercially available miniature sensors for magnetic field measurement with a measuring range up to 10 mT. The work focuses mainly on the magnetoresistive principle and fluxgate sensors. Furthermore, the theoretical part contains descriptions of methods for modeling the magnetic field of simple permanent magnets and various magnet assemblies. Lastly, the theoretical part involves a patent search of devices used for locating magnets that are installed in an intramedullary nail, which is used in intramedullary stabilization used on fractures of human bones. By locating the magnet in the nail, it is possible to precisely determine the position of the mounting holes. The practical part of the thesis deals with the analysis of magnetic field behavior in the vicinity of various magnetic assemblies, which were modeled in COMSOL Multiphysics using the finite element method. The models were created with the aim of analysing the behaviour of the magnetic field in the vicinity of the magnets and at the same time to find possible analytical functions that could be used to determine the position of the magnet in space relative to the probe. The result of this work is an analysis of various assemblies, which contains graphs of different dependencies and prescription of polynomial functions that approximate these dependencies. Another part of the thesis is the design of a probe that serves to locate the magnetic target. The work describes two possible methods of localization. For the differential method, a user interface in LabVIEW was created. The probe based on this method is fully capable of locating the magnet in the 2D plane. The state space search method is described only in theory.
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Hardt, Hans-Joachim von der. "Contribution au pilotage et à la localisation d'un robot mobile." Vandoeuvre-les-Nancy, INPL, 1997. http://www.theses.fr/1997INPL120N.

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Les travaux présentés dans ce mémoire traitent des problèmes relatifs au pilotage et à la localisation d'un robot mobile à roues. Le système de pilotage développé permet d'asservir un véhicule de type fauteuil roulant électrique sur des trajectoires de référence composées de segments rectilignes et de segments en forme de splines polaires. La localisation relative du robot mobile est assurée par un système multicapteur constitué de deux codeurs incrémentaux (odométrie), un gyromètre et un magnétomètre. Le calibrage étant primordial pour les performances du système multicapteur, une méthode d'autocalibrage est développée permettant d'exécuter simultanément et de manière automatique le calibrage de tous les capteurs. La redondance des données sensorielles est exploitée afin d'identifier les paramètres du système qui sont a priori inconnus. L’estimation de l'état du robot mobile est réalisée par un filtre de Kalman étendu développé pour le traitement séquentiel des données sensorielles. Les algorithmes présentés ont été implantés et validés sur la plate-forme expérimentale romane
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Books on the topic "Magnetometer calibration"

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V, Voorhies Coerte, and Goddard Space Flight Center, eds. Preliminary calibration plan for the advanced particles and field observatory (APAFO) magnetometer experiment. Greenbelt, MD: National Aeronautics and Space Administration, Goddard Space Flight Center, 1991.

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Sievert, J., H. Ahlers, and J. L<129>dke. The Certification of Nickel Reference Samples at PTB Destined for the Calibration of Magnetometers. European Communities / Union (EUR-OP/OOPEC/OPOCE), 1993.

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Book chapters on the topic "Magnetometer calibration"

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Tomczyński, Jakub, Tomasz Mańkowski, and Piotr Kaczmarek. "Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units." In Automation 2017, 450–59. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-54042-9_43.

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Kuncar, Ales, Martin Sysel, and Tomas Urbanek. "Calibration of Low-Cost Three Axis Magnetometer with Differential Evolution." In Advances in Intelligent Systems and Computing, 120–30. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-57264-2_12.

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Liu, Donghui, Ling Pei, Jiuchao Qian, Lin Wang, Chengxuan Liu, Peilin Liu, and Wenxian Yu. "Simplified Ellipsoid Fitting-Based Magnetometer Calibration for Pedestrian Dead Reckoning." In China Satellite Navigation Conference (CSNC) 2016 Proceedings: Volume II, 473–86. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-0937-2_40.

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Zhang, Zhen, Jianping Xiong, and Jin Jin. "Real-Time Magnetometer-Bias Calibration of Micro-satellite Without Attitude Information." In Lecture Notes in Electrical Engineering, 81–92. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-662-44687-4_8.

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Kuncar, Ales, Martin Sysel, and Tomas Urbanek. "Calibration of Triaxial Accelerometer and Triaxial Magnetometer for Tilt Compensated Electronic Compass." In Automation Control Theory Perspectives in Intelligent Systems, 45–52. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-33389-2_5.

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Wu, Feng-xi, Bing Hua, and Guo-hua Kang. "Error Calibration of Tri-axial Magnetometer Based on Particle Swarm Optimization Algorithm." In China Satellite Navigation Conference (CSNC) 2014 Proceedings: Volume III, 577–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-54740-9_50.

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Liu, Haiwei, Ming Liu, Yunjian Ge, and Feng Shuang. "Magnetometer Calibration Scheme for Quadrotors with On-Board Magnetic Field of Multiple DC Motors." In Lecture Notes in Electrical Engineering, 409–19. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-38460-8_46.

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Bernieri, Andrea, Giovanni Betta, Luigi Ferrigno, and Marco Laracca. "An Automatic Calibration Procedure for Improving the Metrological Performances of GMR Magnetometers." In Lecture Notes in Electrical Engineering, 233–37. New York, NY: Springer New York, 2013. http://dx.doi.org/10.1007/978-1-4614-3860-1_41.

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NOLTIMIER, H. C. "Calibration of the Spinner Magnetometer." In Methods in Palaeomagnetism, 155. Elsevier, 2013. http://dx.doi.org/10.1016/b978-1-4832-2894-5.50035-5.

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Hajiyev, Chingiz, and Halil Ersin Soken. "In-Orbit Calibration of Small Satellite Magnetometers." In Fault Tolerant Attitude Estimation for Small Satellites, 265–76. CRC Press, 2020. http://dx.doi.org/10.1201/9781351248839-16.

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Conference papers on the topic "Magnetometer calibration"

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Sedlak, Joseph. "Iterative Magnetometer Calibration." In AIAA/AAS Astrodynamics Specialist Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 2006. http://dx.doi.org/10.2514/6.2006-6386.

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Liu, Zhiping, and Mingjing Zhu. "Calibration and error compensation of magnetometer." In 2014 26th Chinese Control And Decision Conference (CCDC). IEEE, 2014. http://dx.doi.org/10.1109/ccdc.2014.6852903.

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Poulose, Alwin, Jihun Kim, and Dong Seog Han. "Indoor Localization with Smartphones: Magnetometer Calibration." In 2019 IEEE International Conference on Consumer Electronics (ICCE). IEEE, 2019. http://dx.doi.org/10.1109/icce.2019.8661986.

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Hosseinzadeh, Ali, Alireza Khayatian, Paknoos Karimagahee, Omidreza Daneshmandi, and Behrooz Raeesi. "Three Axis Fluxgate Magnetometer Sensor Calibration." In 2019 27th Iranian Conference on Electrical Engineering (ICEE). IEEE, 2019. http://dx.doi.org/10.1109/iraniancee.2019.8786508.

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Challa, M., and R. Harman. "A new magnetometer calibration algorithm and applications." In Guidance, Navigation, and Control Conference and Exhibit. Reston, Virigina: American Institute of Aeronautics and Astronautics, 1998. http://dx.doi.org/10.2514/6.1998-4227.

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Soken, Halil Ersin, and Shin-Ichiro Sakai. "TRIAD+Filtering Approach for Complete Magnetometer Calibration." In 2019 9th International Conference on Recent Advances in Space Technologies (RAST). IEEE, 2019. http://dx.doi.org/10.1109/rast.2019.8767427.

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P. Menezes Filho, Rogério, Felipe O. Silva, Leonardo A. Vieira, Lucas P. S. Paiva, and Gustavo S. Carvalho. "Calibration of a Triaxial, Consumer-grade Magnetometer via an Extended Two-step Methodology." In Congresso Brasileiro de Automática - 2020. sbabra, 2020. http://dx.doi.org/10.48011/asba.v2i1.1571.

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Humans have always had the necessity of estimating their location in space for various reasons, e.g. hunting, traveling, sailing, battling, etc. Today, many other areas also demand that information, such as aviation, agriculture, multiple smartphone applications, law enforcement, and even film industry, to mention but a few. Estimating position and orientation is known as navigation, and the means to achieve it are called navigation systems. Each approach has its pros and cons, but sometimes it is possible to combine them into an improved architecture. For instance, inertial sensors (i.e. accelerometers and gyroscopes) can be integrated with magnetometers, producing an Attitude and Heading Reference System (AHRS); this process is referred to as sensor fusion. However, before sensors can be used to produce the navigation solution, calibration is often necessary, especially for low-cost devices. In this study,we perform the calibration of a triaxial consumer-grade magnetometer via an extended two-step methodology, correct small mistakes present in the original paper, and evaluate the technique in a restricted motion scenario. This technique can be implemented in-field, simply by rotating the sensors to multiple orientations; the only external information necessary is the local Earth's magnetic field density, easily estimated through reliable models. The error parameters, i.e. biases, scale factors, and misalignments, are indirectly estimated via a least squares algorithm. The calibration is first performed through software simulation, followed by hardware implementation to validate the results.
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Begus, S., and D. Fefer. "DDS Based NMR Magnetometer in Slovenian Calibration Laboratory." In 2004 Conference on Precision electromagnetic Digest. IEEE, 2004. http://dx.doi.org/10.1109/cpem.2004.305273.

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Draganova, K., P. Lipovsky, and M. Smelko. "IMU Accelerometer and Magnetometer Calibration Using Spectral Analysis." In 2018 XIII International Scientific Conference - New Trends in Aviation Development (NTAD). IEEE, 2018. http://dx.doi.org/10.1109/ntad.2018.8551682.

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Adam, Ronan, Christophe Combettes, Emmanuel Pecheur, and Sebastien Changey. "In flight magnetometer calibration in the projectile frame." In 2018 IEEE International Symposium on Inertial Sensors and Systems (INERTIAL). IEEE, 2018. http://dx.doi.org/10.1109/isiss.2018.8358125.

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Reports on the topic "Magnetometer calibration"

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Squier, D. M. Magnetometer calibration and test procedure. Office of Scientific and Technical Information (OSTI), May 1997. http://dx.doi.org/10.2172/10148744.

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