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Extension of a two-step calibration methodology to include nonorthogonal sensor axes

机译：扩展了两步校准方法，以包括非正交传感器轴

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摘要

We present an extension of the nonlinear 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. Nonorthogonality can result from manufacturing issues, installation geometry, and in the case of magnetometers, from 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 postcalibration. We note that the algorithm is general and can be applied to any two- or three-axis sensor set (such as accelerometers) with an error model consisting of scale, offset, and nonorthogonality errors.
机译：我们提出了非线性两步估计算法的扩展，该算法最初是为固态捷联式磁力计的校准而开发的。我们扩展了算法，将非正交性包括在两轴和三轴传感器的传感器集中。非正交性可能是由制造问题，安装几何形状引起的，对于磁力计而言，可能是由软铁偏置误差引起的。对两轴和三轴传感器的仿真研究表明，即使存在实际的测量噪声，改进算法也可以收敛到真实值。最终，该算法在低成本的固态三轴磁力计装置上进行了实验验证，显示出一定的改进后校准。我们注意到，该算法是通用算法，可应用于具有刻度，偏移和非正交误差的误差模型的任何两轴或三轴传感器集（例如加速度计）。

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