Extension of a Non-Linear, Two-Step Calibration Methodology to Include Non-Orthogonal Sensor Axes
نویسندگان
چکیده
We present an extension of the non-linear two-step estimation algorithm originally developed for the calibration of solid-state strapdown magnetometers. We expand the algorithm to include nonorthogonality within a sensor set for both two and three axis sensors. Non-orthogonality can result from manufacturing issues, installation geometry, and in the case of magnetometers, soft iron bias errors. Simulation studies for both two and three-axis sensors show convergence of the improved algorithm to the true values, even in the presence of realistic measurement noise. Finally the algorithm is experimentally validated on a low-cost solid state three-axis magnetometer set, which shows definite improvement post-calibration. We note that the algorithm is general and can be applied to any two or three-axis sensor set with an error model consisting of scale, offset, and non-orthogonality errors.
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