Robust Autocalibration of Triaxial Magnetometers
- Robust Autocalibration of Triaxial Magnetometers
- 김익재; 강동훈; 홍제형
- Accelerometer,; calibration,; robust optimization; magnetometer,
- Issue Date
- IEEE transactions on instrumentation and measurement
- VOL 70, 1002612
- 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.
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