Abstract
Low-cost magnetic and inertial sensors are extensively used for orientation estimation. However, magnetic sensors are very susceptible to environmental disturbance. In order to achieve accurate geomagnetic navigation, appropriate sensor correction procedures must be performed in advance to process measured data correctly. Therefore, a combined correction model and a high-precision geomagnetic directional technology were proposed in this work. Firstly, the working principle of the strapdown three-axis geomagnetic sensor was analyzed, and a unified calibration framework was established. Then, the total least square method (TLS) was utilized to solve all of the error parameters. Finally, a high-precision geomagnetic directional technology was achieved based on the Mahony algorithm. Experimental results revealed that the proposed technology significantly reduces the error amplitude and effectively compensates the data distortion, with higher and more stable compensation accuracy. The results prove the effectiveness of the proposed algorithm and its broad application prospects in military, industrial and civilian fields.
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