Abstract

A190 calibration method for tri-axial magnetometer in attitude and heading reference system (AHRS) is presented in this paper. This method utilized two different constraints simultaneously, one is the norm of geomagnetic vector, and the other is the dot product of geomagnetic and gravity vectors. Numerical simulation and experiment results demonstrate that the proposed method shows better performance than the frequently used ellipsoid fitting method, as well as the constant intersection method, since it can eliminate the inter-triad misalignment between magnetometer and other sensors in AHRS, and it is robust to measurement noise.

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