Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Magnetic Disturbance Model-Embedded Heading Estimation Filter for Time-Varying Magnetic Environments

시변 자기 환경에 강한 자기왜곡 모델 내장형 헤딩 추정 필터

  • Lee, Jung Keun (Department of Mechanical Engineering, Hankyong National University) ;
  • Choi, Mi Jin (Department of Mechanical Engineering, Hankyong National University)
  • 이정근 (한경대학교 기계공학과) ;
  • 최미진 (한경대학교 기계공학과)
  • Received : 2017.07.11
  • Accepted : 2017.07.26
  • Published : 2017.07.31
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Abstract

With regards to heading estimation using gyroscope and magnetometer signals, magnetic disturbance added in the magnetometer signals is a main degradation factor in the estimation accuracy. Although there are a number of existing mechanisms that may properly compensate for the magnetic disturbances, they are designed to react only to the magnetic disturbances, but not to the time derivative of disturbances. Note that the sensors may experience abrupt changes in the magnetic disturbances, particularly for ambulatory applications. This paper proposes a magnetic disturbance model-embedded heading estimation filter for time-varying magnetic environments. The proposed magnetic disturbance model is based on a first-order Markov chain with a conditional switching technique depending on the time derivative of disturbances. Once a high amount of derivative is detected, the corrupted magnetometer signals are discarded to protect the filter from them. In our experimental results, the averaged heading error of tests was $1.46^{\circ}$, while that of the original approach without switching was $5.75^{\circ}$.

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References

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