Abstract
Due to inertial and magnetic sensors imperfections, pre-processing is crucial in obtaining reliable orientation estimates. An easy to implement method of sensor calibration is presented, requiring little to none additional equipment. The method does not need a reference sensor and relies on world magnetic and gravity vectors constant relationship. In addition to standard individual calibration, a cross-sensor reference frame alignment is performed. Comparison with a high-grade MARG unit is also provided. Magnetic inclination stability, inertial and magnetic vector magnitude, and angular error are evaluated.
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Acknowledgement
The work reported in this paper was supported by the Polish National Science Centre research project no. 2015/17/N/ST6/03571.
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Tomczyński, J., Mańkowski, T., Kaczmarek, P. (2017). Cross-Sensor Calibration Procedure for Magnetometer and Inertial Units. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2017. ICA 2017. Advances in Intelligent Systems and Computing, vol 550. Springer, Cham. https://doi.org/10.1007/978-3-319-54042-9_43
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DOI: https://doi.org/10.1007/978-3-319-54042-9_43
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