Robust Autocalibration of Triaxial Magnetometers

Title
Robust Autocalibration of Triaxial Magnetometers
Authors
김익재강동훈홍제형
Keywords
Accelerometer,; calibration,; robust optimization; magnetometer,
Issue Date
2021-01
Publisher
IEEE transactions on instrumentation and measurement
Citation
VOL 70, 1002612
Abstract
Self-calibration of a magnetometer usually requires controlled magnetic environment as the calibration output can be affected by field distortions from nearby magnetic objects. In this article, we develop a two-stage method that can accurately selfcalibrate magnetometer from measurements containing anomalous readings due to local magnetic disturbances. The method proceeds by robustly fitting an ellipsoid to measurement data via L1-norm convex optimization, yielding initial model variables that are less prone to magnetic disruptions. These are then served as a starting point for robust nonlinear least-squares optimization, which refines the magnetometer model to minimize sensor estimation errors while suppressing heavy anomalies. Synthetic and real experimental results are provided to demonstrate improved accuracy of the proposed method in the presence of outliers. We additionally show empirically that the method is directly applicable to self-calibration of three-axis accelerometers.
URI
http://pubs.kist.re.kr/handle/201004/72617
ISSN
0018-9456
Appears in Collections:
KIST Publication > Article
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