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Magnetic Sensor Compensation Using Factor Graph Estimation
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DOI：10.1109/JSEN.2024.3416618.png)
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摘要
En 中文
Recently, there has been significant interest in the ability to navigate without GPS using the magnetic anomaly field of the Earth (magnav). One of the key technical bottlenecks to achieving magnav is obtaining an accurate magnetic sensor calibration, taking into account own-ship and sensor effects. The Tolles-Lawson magnetic calibration method continues to be the industry standard and was developed when airborne magnetic survey aircraft were first used over 70 years ago. In this article, we present a magnetic calibration algorithm based on a factor graph optimization using inertial measurements and inputs from both a vector and scalar magnetometer. The factor graph is well-suited for combining multiple sensor inputs, allowing accurate calibrations in the presence of large permanent moments and a time-varying external magnetic field, two problems that are difficult to solve with previous approaches. The ability to accurately calibrate a magnetic sensor in flight (i.e., with the presence of a large platform field and a varying Earth field due to movement) will allow greater flexibility in sensor mounting locations for magnetic anomaly navigation.
Keyword:
Sensors
Magnetometers
Calibration
Vectors
Magnetic sensors
Magnetic separation
Aircraft navigation
compensation
factor graph
Gauss-Newton
geometrics
MAGICAL
magnav
magnetic
navigation
Tolles-Lawson
Twinleaf
TWOSTEP
期刊
IF:
4.5
论文数:
2.1W
被引数:
7.3W
机构
引用论文
A Fast Calibration and Compensation Method for Magnetometers in Strap-Down Spinning Projectiles.png)
SENSORS
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SENSORSIF3.5
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