complete triaxis magnetometer calibration in the magnetic domain完成triaxis磁强计校准磁畴.pdfVIP

Hindawi Publishing Corporation Journal of Sensors Volume 2010, Article ID 967245, 10 pages doi:10.1155/2010/967245 Research Article Complete Triaxis Magnetometer Calibration in the Magnetic Domain ´ ´ Valerie Renaudin, Muhammad Haris Afzal, and Gerard Lachapelle Position Location and Navigation (PLAN) Group, Schulich School of Engineering, University of Calgary, 2500 University Drive N.W., Calgary, AB, Canada T2N 1N4 ´ Correspondence should be addressed to Valerie Renaudin, valerie.renaudin@ucalgary.ca Received 6 September 2010; Revised 13 October 2010; Accepted 26 October 2010 Academic Editor: Pavel Ripka ´ Copyright © 2010 Valerie Renaudin et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 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 perturbatio