Loading...

Development of an Online Calibration Algorithm for Three Axis-Magnetic Sensor through Data Fusion Techniques

Khatib, Sedigheh | 2018

618 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 50946 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan
  7. Abstract:
  8. There are challenges in controlling and guidance of vehicles which makes it necessary to have true information about the position, velocity, and orientation of the system. This issue is severe to some extent when a UAV is the object to be controlled. The navigation system is responsible for supplying the mentioned information which is usually accompanied with some errors. Therefore, threre are a wide range of algorithms developed for omitting these errors leading to a well-calibrated navigation system. One of the precise and reliable calibration method is based on the data fusion of intertial navigation sensors and magnetometer measurements. As the obtained data via magnetometers are usually affected by some error resources, they must be calibrated before using in data fusion techniques. In this project, in order to calibrate the magnetometer, two different real-time calibration algorithms are presented. In the first algorithm, calibration parameres are estimated via the variation of the angle of the system during the motion. The simulations reveal that this procedure overally resulted in 3% reduction in parameter estimation relative error with respect to prevailing methods. The second algorithm uses the same trend except using the tilt angles in the calibration process instead of the body angles. The results of simulation prevalent to this algorithm, unfortunately, show the inefficiency of the algorithm in improvement of parameter estimation
  9. Keywords:
  10. Kalman Filters ; Inertial Sensor ; Courve Fiting ; Least Squeres Error (LSE) ; Three Axis Magnetometer Calibration ; Onboard Calibration

 Digital Object List

 Bookmark

No TOC