Wu Zongkai, Wang Wei
College of Automation, Harbin Engineering University, No. 145 Nantong Street, Harbin 150001, China.
Sensors (Basel). 2018 Mar 1;18(3):748. doi: 10.3390/s18030748.
Micro electro mechanical system (MEMS) gyroscopes and magnetometers are usually integrated into a sensor module or chip and widely used in a variety of applications. In existing integrated gyroscope and magnetometer calibration methods, rotation in all possible orientations is a necessary condition for a good calibration result. However, rotation around two or more axes is difficult to attain, as it is limited by the range of movement of vehicles such as cars, ships, or planes. To solve this problem, this paper proposes an integrated magnetometer and gyroscope calibration method with level rotation. The proposed method presents a redefined magnetometer output model using level attitude. New gyroscope and magnetometer calibration models are then deduced. In addition, a simplified cubature Kalman filter (CKF) is established to estimate calibration parameters. This method possesses important value for application in actual systems, as it only needs level rotation for real-time calibration of gyroscopes and magnetometers. Theoretical analysis and test results verify the validity and feasibility of this method.
微机电系统（MEMS）陀螺仪和磁力计通常集成到一个传感器模块或芯片中，并广泛应用于各种领域。在现有的集成陀螺仪和磁力计校准方法中，在所有可能的方向上旋转是获得良好校准结果的必要条件。然而，绕两个或更多轴的旋转很难实现，因为它受到汽车、轮船或飞机等车辆运动范围的限制。为了解决这个问题，本文提出了一种具有水平旋转的集成磁力计和陀螺仪校准方法。该方法提出了一种使用水平姿态重新定义的磁力计输出模型。然后推导了新的陀螺仪和磁力计校准模型。此外，建立了一种简化的容积卡尔曼滤波器（CKF）来估计校准参数。该方法在实际系统中具有重要的应用价值，因为它只需要水平旋转就可以对陀螺仪和磁力计进行实时校准。理论分析和测试结果验证了该方法的有效性和可行性。
