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Iterative calibration method for inertial and magnetic sensors

Abstract : We address the problem of three-axis sensor calibration. Our focus is on magnetometers. Usual errors (misalignment, non-orthogonality, scale factors, biases) are accounted for. We consider a method where no specific calibration hardware is required. We solely use the fact that the norm of the sensed field must remain constant irrespective of the sensors orientation. The proposed algorithm is iterative. Its convergence is studied. Experiments conducted with MEMS sensors (magnetometers) stress the relevance of the approach.
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Submitted on : Wednesday, May 12, 2010 - 1:42:44 PM
Last modification on : Wednesday, November 17, 2021 - 12:30:57 PM
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Eric Dorveaux, David Vissière, Alain Pierre Martin, Nicolas Petit. Iterative calibration method for inertial and magnetic sensors. 48th IEEE Conference on Decision and Control, Dec 2009, Shanghai, China. pp.8296-8303, ⟨10.1109/CDC.2009.5399503⟩. ⟨hal-00473610⟩



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