• 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.

• 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 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 Korean Magnetics Society
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• v.18 no.1
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• pp.14-18
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• 2008

Bismuth-substituted yttrium iron garnet(Bi:YIG) films, which show excellent magnetic and magneto-optical properties as well as low optical losses by optimizing their deposition and post-annealing condition, have been attracting great attention in optical device research area. In this study, the Bi:YIG thick films were deposited with the aerosol deposition method for the final purpose of applying them to optical isolators. Since the aerosol deposition is based on the impact adhesion of sub-micrometer particles accelerated by a carrier gas to a substrate, the flow rate of carrier gas, which is in proportion to mechanically collision energy, should be treated as an important parameter. The Bi:YIG($Bi_{0.5}Y_{2.5}Fe_5O_{12}$) particles with $100{\sim}500$ nm in average diameter were carried and accelerated by nitrogen gas with the flow rate of 0.5 l/min${\sim}$10 l/min. The coercive force decreased from 51 Oe to 37 Oe exponentially with increasing gas flow rate. This is presumably due to the fact that the optimal collision energy results in reduction of impurity and pore, which makes the film to be soft magnetically. The saturation magnetization decreased due to crystallographical distortion of the film with increasing gas flow rate.