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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Field Sensor Bias Calibration With Angular-Rate Sensors: Theory and Experimental Evaluation With Application to Magnetometer Calibration
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Field Sensor Bias Calibration With Angular-Rate Sensors: Theory and Experimental Evaluation With Application to Magnetometer Calibration

机译：角速率传感器的磁场传感器偏置校准：理论和实验评估及其在磁强计校准中的应用

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摘要

Field sensors, such as magnetometers and accelerometers, are widely used sensors for attitude estimation, yet their accuracy is limited by sensor measurement bias. This paper reports a novel methodology for estimating the sensor bias of three-axis field sensors. Our approach employs three-axis angular velocity measurements from an angular-rate gyroscope to estimate the three-axis field sensor measurement bias that, when properly calibrated, can significantly improve attitude estimation. We report three methods implementing this approach based on batch linear least squares, real-time Kalman filter, and real-time adaptive identification. Assuming the field is constant, our methods impose less restrictive conditions for the movements of the instrument required for calibration than previously reported methods, do not require a priori knowledge of the field (e.g., the magnitude of the local magnetic field) or the attitude of the instrument, and also ensure convergence for the estimated parameters. The proposed methods are evaluated and compared with the previously reported methods with numerical simulation and in a comparative laboratory and field experimental evaluation with the sensors onboard an underwater robot vehicle. Finally, as an application example of the magnetometer bias calibration, the proposed methods are used to improve the estimation of the position of an underwater vehicle in Monterey Bay at 2800 m depth.
机译：磁场传感器，例如磁力计和加速度计，是用于姿态估计的广泛使用的传感器，但是其精度受到传感器测量偏差的限制。本文报告了一种用于估计三轴场传感器的传感器偏置的新颖方法。我们的方法采用来自角速率陀螺仪的​​三轴角速度测量值来估计三轴场传感器测量偏差，如果正确校准，该偏差可以显着改善姿态估计。我们报告了基于批处理线性最小二乘法，实时卡尔曼滤波器和实时自适应识别实现此方法的三种方法。假设磁场是恒定的，我们的方法对校准仪器所需的运动施加的限制条件比以前报道的方法要少，不需要先验知识（例如，局部磁场的大小）或磁场的姿态仪器，并确保估计参数的收敛性。对所提出的方法进行了评估，并与先前报道的方法进行了数值模拟，并在水下机器人车辆上的传感器的比较实验室和野外实验评估中进行了比较。最后，作为磁力计偏差标定的一个应用实例，提出的方法被用于改进对蒙特雷湾2800 m深度水下航行器位置的估计。

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