<p>With the rapid development of mechatronics, systems in package (SiP), particular MPU-9250 inertial measurement Unit 9DOF (MPU-6050 6DOF and AK8963 3DOF), are becoming ubiquitous applications for autonomous navigation purposes. Nevertheless, they suffer from some accuracy problems related to axis misalignment, disturbances, deviation over time that make them unable work autonomously a l...

Magnetometers are widely used for LEO small satellites attitude determination and control system. In order to estimate satellite dynamics and control attitude accurately, scale factor and bias of magnetometer must be estimated. In this study a linear Kalman filter (LKF) based algorithm for the estimation of magnetometer biases and scale factors is proposed. Proposed algorithms are simulated thr...

1Laboratoire d’Electronique et de Technique d’Instrumentation, Commissariat à l’énergie atomique, referred to later on as CEA/LETI Grenoble 17 rue des martyrs 38054 Grenoble cedex 9, France 2International Institute of Earthquake Prediction Theory and Mathematical Geophysics 79, b2, Warshavskoe shosse 113556 Moscow, Russia 3Institut de Physique du Globe de Paris, 4, Place Jussieu, 75252, Paris, ...

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 elaborate...

We have combined a novel low temperature positioning mechanism with a single-chip miniature superconducting quantum interference device ~SQUID! magnetometer to form an extremely sensitive new magnetic microscope, with a demonstrated spatial resolution of ;10 mm. The design and operation of this scanning SQUID microscope will be described. The absolute calibration of this instrument with an idea...

Abstract: This paper describes an automatic calibration procedure adopted to improve the localization of an outdoor mobile robot. The proposed algorithm estimates, by using an extended Kalman filter, the main kinematic parameters of the vehicles, such as the wheel radii and the wheelbase as well as the magnetometer offset. Several trials have been performed to validate the proposed strategy on ...

ABSTRACT: Inertial Navigation Systems (INS) consist of accelerometers, gyroscopes and a microprocessor provide inertial digital data from which position and orientation is obtained by integrating the specific forces and rotation rates. In addition to the accelerometers and gyroscopes, magnetometers can be used to derive the absolute user heading based on Earth's magnetic field. Unfortunately, t...