Real-time calibration method for three-axis magnetometer based on adaptive parameter estimation

To address the defects of the traditional calibrated methods for three-axis magnetometer, a real-time calibration method with adaptive parameter estimation is proposed by using real-time estimated parameters to calibrate the errors of the three-axis magnetometer in real-time. Firstly, the full measurement error model of the three-axis magnetometer is analyzed, and the transformation for this model is developed. Based on this transformation, the parameter model for the adaptive estimation is established. Secondly, the noises of the parameter model are analyzed. Since the noises of the parameter model are non-Gaussian and state-dependent, the adaptive parameter estimation method is adopted to address these noises. At last, the simulation and experimental tests are designed to verify the performance of the proposed method. The test results show that the proposed algorithm can realize the real-time correction of error parameters and improve the autonomy of the magnetic sensor error correction. Meanwhile, based on the adaptive parameter estimation method, the standard deviation of the calibration result is reduced by 3 times compared with that of the traditional method. © 2019, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.