• Journal of Institute of Control, Robotics and Systems
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• v.18 no.9
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• pp.819-822
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• 2012

This paper describes an on-line magnetic distortion calibration procedure for a magnetometer. The horizontal magnetic field is calculated through the earth magnetic field sensed by 3-axes magnetometer. The ellipse equation is derived from a set of horizontal magnetic field data using least square method and calibration parameters are determined. The calibration process is performed iteratively until parameters are not renewed, and experimental results show the effectiveness of the devised method.

• Journal of Ocean Engineering and Technology
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• v.31 no.2
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• pp.177-182
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• 2017

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.48 no.1
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• pp.1-8
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• 2011

The accuracy of MR sensor-based electronic compass is influenced by the temperature drift and DC offset of the MR sensor and the OP-amp, the magnetic distortion of nearby magnetic materials, and the compass tilt We design the 3-axis MR sensor and accelerometers-based electronic compass which is compensated by the set/reset pulse switching method on the temperature drift and DC offset, by the execution of hard-iron calibration routine on the magnetic distortion, and by the execution of the Euler rotational equation on the compass tilt. We qualitatively analyze the measured azimuth error on the execution of sensitivity calibration routine which is the normalization process on the different sensitivity of each MR sensor and the different gain of each op-amps. This compensation and analytic result make us design the one degree accuracy electronic compass.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.

• Journal of the Korean institute of surface engineering
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• v.51 no.4
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• pp.249-255
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• 2018

High temperature and low temperature gaseous nitriding was performed in order to study of the surface hardening and wear properties of the nitrided AISI 410 Martensitic stainless steels. High temperature gaseous nitiridng (HTGN) was carried out using partial pressure $N_2$ gas at $1,100^{\circ}C$ for 10 hour, and Low temperature gaseous nitiridng (LTGN) was conducted in a gas mixture of NH3 and N2 at $470^{\circ}C$ for 10 hour. The nitrided samples were characterized by microhardness measurements, optical microscopy and scanning electron microscopy. The phases were identified by X-ray diffraction and nitrogen concentration was analyzed by GD-OES. The HTGN specimen had a surface hardness of about $700HV_{0.1}$, $350{\mu}m$ of case depth. A ${\sim}50{\mu}m$ thick, $1,250HV_{0.1}$ hard nitrided case formed at the surface of the AISI 410 steel by LTGN, composed nitrogen supersaturated expanded martensite and ${\varepsilon}-Fe_{24}N_{10}$ iron nitrides. Additionally, the results of the wear tests, carried out LTGN specimen was low friction coefficient and high worn mass loss of ball. The increase in wear resistance can be mainly attributed to the increase in hardness and to the lattice distortion caused by higher nitrogen concentration.