Abstract
The inherent error of low-cost microelectromechanical system (MEMS) inertial/magnetic sensor directly affects the measurement accuracy of attitude and heading reference system (AHRS), and the error calibration of inertial/magnetic sensor can significantly improve its performance and measurement accuracy. Based on the above problem existing in the magnetometer, accelerometer, and rate gyro (MARG) sensors, this article proposes a new three-step auxiliary autonomous calibration method (TSAAC) based on the combination of MEMS inertial/magnetic sensors, and the effectiveness and feasibility of the proposed method are jointly verified through numerical simulation and physical verification. The experimental results show that the actual calibration effect of the TSAAC is close to the calibration effect assisted by the high-precision turntable, which can achieve the autonomous calibration of the inertial/magnetic sensor combination without any external equipment assistance.
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