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Статті в журналах з теми "Magnetic heading"

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Автор: Grafiati
Опубліковано: 7 липня 2024

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1

Iqbal, Muhammad, Masood Ur Rehman, Umar Iqbal Bhatti, and Najam Abbas Naqvi. "Magnetometer heading estimation through online calibration for land navigation applications." Natural and Applied Sciences International Journal (NASIJ) 2, no. 1 (December 16, 2021): 56–69. http://dx.doi.org/10.47264/idea.nasij/2.1.5.

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For land navigation applications, the integration of the magnetometer with the combination of MEMS-INS and the Global Navigation Satellite System (GNSS) give excellent results. During land navigation applications, the magnetometer’s heading can also be used during the GNSS outages. The calibration of the magnetometer is indispensable to calculate its accurate heading. There exist several methods for magnetometer calibration. Some are offline and some are online calibration techniques. In this paper, a calibration method is proposed to estimate the magnetometer’s parameters through online calibration in run time. In this method, the reference magnetic field is calculated from the World Magnetic Model (WMM-2020). Moreover, reference roll, pitch and heading are provided from some other sources such as GNSS, Attitude Heading Reference System (AHRS), or reference INS. For different roll and pitch sectors, calibration parameters are estimated and stored. These parameters are used for magnetometer online calibration during the field testing. Both the headings obtained by the online calibration and conventional lab calibrations are analysed. Furthermore, the heading estimated through the online calibration is autonomous and fast. Subsequently, there is no user involvement in this online calibration technique and no specific movements to the device are provided. The heading obtained by novel technique is as accurate as obtained by conventional offline lab calibration.
2

Li, Ziyaun, Yanmin Zhang, and Wentie Yang. "The Effect of Vehicles Attitude Angle Error on Magnetic Compass Heading Estimation." Journal of Physics: Conference Series 2718, no. 1 (March 1, 2024): 012048. http://dx.doi.org/10.1088/1742-6596/2718/1/012048.

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Abstract The three-component magnetic sensor is used to measure the heading of the vehicle. Under working, the magnetic sensor be rotated to the horizontal plane according to the attitude angle of the vehicle, and then the heading estimation is performed. However, the vehicle’s attitude angle measurement errors affect the accuracy of the magnetic sensor measurement’s east and north components and then lead to a false heading result. Based on the relation of magnetic field measurement error and magnetic heading error, the effect model of geomagnetic measurement error on magnetic heading error is derived in this paper. Finally, the characteristics of attitude angle errors on magnetic heading are verified by experiments, and the results show that particular angles can avoid the magnetic compass’s effect by the vehicle’s attitude angle error.
3

Hu, Hao. "A Vehicle Heading and Attitude Measurement System Based on Earth Magnetic Field Sensor." Advanced Materials Research 588-589 (November 2012): 1140–43. http://dx.doi.org/10.4028/www.scientific.net/amr.588-589.1140.

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Measurement method is studied utilizing vertical gyroscopevertical gyroscopevertical gyroscope, static earth magnetic field sensor and CPU. According to electromagnetism induction law, when a wire loop incises the magnetic force line of the earth magnetic field, it will bring about the induction electromotive force, the earth magnetic field can be calculated by signal processing of induced voltage in measuring coil. A heading and attitude measuring system to vehicle are designed, the heading precision were raised. Experiment data states clearly the heading precision is not more than 0.5°. This system can be used to detect heading and attitude, and can be extended easily.
4

Gang, Yin, Zhang Yingtang, Ren Guoquan, Li Zhining, and Fan Hongbo. "Magnetic interferential signal compensation in magnetic heading measurement." Transactions of the Institute of Measurement and Control 38, no. 9 (July 20, 2016): 1098–106. http://dx.doi.org/10.1177/0142331215579218.

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5

El-Diasty, M. "An Accurate Heading Solution using MEMS-based Gyroscope and Magnetometer Integrated System (Preliminary Results)." ISPRS Annals of Photogrammetry, Remote Sensing and Spatial Information Sciences II-2 (November 11, 2014): 75–78. http://dx.doi.org/10.5194/isprsannals-ii-2-75-2014.

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An accurate heading solution is required for many applications and it can be achieved by high grade (high cost) gyroscopes (gyros) which may not be suitable for such applications. Micro-Electro Mechanical Systems-based (MEMS) is an emerging technology, which has the potential of providing heading solution using a low cost MEMS-based gyro. However, MEMS-gyro-based heading solution drifts significantly over time. The heading solution can also be estimated using MEMS-based magnetometer by measuring the horizontal components of the Earth magnetic field. The MEMS-magnetometer-based heading solution does not drift over time, but are contaminated by high level of noise and may be disturbed by the presence of magnetic field sources such as metal objects. This paper proposed an accurate heading estimation procedure based on the integration of MEMS-based gyro and magnetometer measurements that correct gyro and magnetometer measurements where gyro angular rates of changes are estimated using magnetometer measurements and then integrated with the measured gyro angular rates of changes with a robust filter to estimate the heading. The proposed integration solution is implemented using two data sets; one was conducted in static mode without magnetic disturbances and the second was conducted in kinematic mode with magnetic disturbances. The results showed that the proposed integrated heading solution provides accurate, smoothed and undisturbed solution when compared with magnetometerbased and gyro-based heading solutions.
6

Liu, Gong-Xu, and Ling-Feng Shi. "Adaptive algorithm of magnetic heading detection." Measurement Science and Technology 28, no. 11 (October 12, 2017): 115101. http://dx.doi.org/10.1088/1361-6501/aa8257.

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7

Feng, Yi Bo, Xi Sheng Li, and Xiao Juan Zhang. "Research on a Combined Directional Instrument of DMC and Gyro for Vehicles." Advanced Materials Research 490-495 (March 2012): 2510–14. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.2510.

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In the view of the disadvantages brought by DMC(digital magnetic compass) and gyro when they are used separately, a combined directional instrument composed by a 3-axes digital magnetic compass and a 3-axes MEMS gyro for vehicles is introduced, which is less influenced to the magnetic field interference and random drift. In the abnormal magnetic field, the MEMS gyro is used for correcting the heading angle of DMC. The experiment data shows that this instrument can output a stable and high-precision heading angle. It can be used to provide heading angle for vehicles.
8

Karimi, Mojtaba, Edwin Babaians, Martin Oelsch, and Eckehard Steinbach. "Deep Fusion of a Skewed Redundant Magnetic and Inertial Sensor for Heading State Estimation in a Saturated Indoor Environment." International Journal of Semantic Computing 15, no. 03 (September 2021): 313–35. http://dx.doi.org/10.1142/s1793351x21400079.

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Robust attitude and heading estimation in an indoor environment with respect to a known reference are essential components for various robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using low-cost solid-state MEMS-based sensors. The precision of heading estimation on such a system is typically degraded due to the encountered drift from the gyro measurements and distortions of the Earth’s magnetic field sensing. This paper presents a novel approach for robust indoor heading estimation based on skewed redundant inertial and magnetic sensors. Recurrent Neural Network-based (RNN) fusion is used to perform robust heading estimation with the ability to compensate for the external magnetic field anomalies. We use our previously described correlation-based filter model for preprocessing the data and for empowering perturbation mitigation. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the saturated indoor environment and achieve a Root-Mean-Square Error of less than [Formula: see text] for long-term use.
9

Foster, M. R. "Vehicle Navigation Using the Adaptive Compass." Journal of Navigation 39, no. 2 (May 1986): 279–85. http://dx.doi.org/10.1017/s0373463300000138.

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Magnetic sensors have been used in navigation for many centuries. During this time the effects of magnetic interference from ferromagnetic materials used in vehicle construction have become an increasing problem, and correction techniques have evolved progressively to allow the continued use of magnetic heading detection. The advent of the microprocessor has made it possible to take a fresh look at the problems of compass operation in vehicles and to devise more accurate processes for the correction of the indicated heading. The compass system described in this paper uses a mathematical representation of the magnetic environment based on fundamental physical principles to supply accurate heading information even in the most magnetically hostile land vehicles.
10

Chang, Ming, Lei Xu, Xin Pang, Jiawei Zhang, Houpu Li, and Mingzhen Lin. "Characteristic analysis and blind area prediction of aeromagnetic scalar gradient detection method." AIP Advances 12, no. 8 (August 1, 2022): 085211. http://dx.doi.org/10.1063/5.0102139.

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To analyze the characteristics of the aeromagnetic scalar gradient detection method, a uniformly magnetized ellipsoid is used to simulate an unexploded ordnance, and a magnetic field detection model is established in the International Geomagnetic Reference Field based on rotation matrices. Furthermore, the spatial distribution of the target’s magnetic field is simulated. The results indicate that the scalar gradient detection curve is closely related to the unmanned aerial vehicle (UAV) heading, geomagnetic direction, and target attitude. According to the measured data, the aeromagnetic detection system exhibits differences in the detection of different headings, indicating that some “blind areas” exist in the scalar gradient magnetic detection method. The experimental measurement by a quadrotor UAV equipped with two optical pump magnetometers verifies that the scalar gradient detection method can effectively eliminate the geomagnetic field as well as the interferences of the UAV itself. Furthermore, the angular relationship between the target magnetic field contour distribution and the heading is found to be the main reason that the scalar gradient detection system enters the “blind detection area.” Therefore, a flight strategy of “positive direction + orthogonal grid” is proposed. This method effectively reduces the missed detection rate of scalar gradient detection and provides strategic guidance for the detection path of aeromagnetic scalar gradient system.
11

ISHII, Kyoya, Keisuke SHIMONO, Yoshihiro SUDA, Takayuki ANDO, Tomohiko NAGAO, Michiharu YAMAMOTO, Wataru KUGIMIYA, Hirotaka MUKUMOTO, and Masaya SEGAWA. "Vehicle Heading Estimation Using Magnetic Positioning System." Proceedings of the Dynamics & Design Conference 2021 (2021): 545. http://dx.doi.org/10.1299/jsmedmc.2021.545.

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12

Yin, Gang, and Lin Zhang. "Magnetic heading compensation method based on magnetic interferential signal inversion." Sensors and Actuators A: Physical 275 (June 2018): 1–10. http://dx.doi.org/10.1016/j.sna.2018.03.043.

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13

Basterretxea-Iribar, Imanol, Iranzu Sotés, and Jose Ignacio Uriarte. "Towards an Improvement of Magnetic Compass Accuracy and Adjustment." Journal of Navigation 69, no. 6 (March 29, 2016): 1325–40. http://dx.doi.org/10.1017/s0373463316000138.

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Many ship accidents have arisen from an error in course indication. Bearing in mind that the actual errors in gyrocompass and satellite compass are really minor, they may be considered valid to be input into an autopilot provided that any failure in such devices is controlled by means of a secondary heading source such as a magnetic compass. However, magnetic compass deviation may be significant and its heading should be corrected before being input to the autopilot. The errors caused by the geographic variability of the deviation should also be taken into account. Moreover, the current way to reduce the deviation requires that the ship is un-berthed to execute a complete swing. The aim of this article is to obtain a ship magnetic model by means of an algorithm based on least squares to correct magnetic compass heading input in the autopilot and to permit definitive magnetic compass compensation without swinging the ship through 360°.
14

Gade, Kenneth. "The Seven Ways to Find Heading." Journal of Navigation 69, no. 5 (April 4, 2016): 955–70. http://dx.doi.org/10.1017/s0373463316000096.

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A magnetic compass has too large a heading error for many applications, and it is often not obvious how to achieve an accurate heading, in particular for low-cost navigation systems. However, there are several different methods available for finding heading, and their feasibility depends on the given scenario. Some of the methods may seem very different, but they can all be related and categorised into a list by studying the vector that each method is using when achieving heading. A list of possible methods is very useful when ensuring that all relevant methods are being considered for a given application. For practical navigation, we have identified seven different vectors in use for heading estimation, and we define seven corresponding methods. The methods are magnetic and gyrocompass, two methods based on observations, multi-antenna Global Navigation Satellite Systems (GNSS), and two methods based on vehicle motion.
15

Sun, Bao Jiang, and Yue Xu. "Heading Measurement Based on Ultrasonic and Magnetic Compass." Applied Mechanics and Materials 341-342 (July 2013): 896–900. http://dx.doi.org/10.4028/www.scientific.net/amm.341-342.896.

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Describes briefly ultrasonic positioning system (UPS) and digital magnetic compass (DMC) heading measurement principle,analyzed the advantages and disadvantages of each option. To improve the accuracy of the heading measurement, As the theoretical basis of adaptive Kalman filter, designed a kind of ups and dmc integrated navigation system. Based on both real measurement data, made a simulation experiment and confirmed the feasibility of the navigation system.
16

Spielvogel, Andrew R., and Louis L. Whitcomb. "Adaptive bias and attitude observer on the special orthogonal group for true-north gyrocompass systems: Theory and preliminary results." International Journal of Robotics Research 39, no. 2-3 (November 5, 2019): 321–38. http://dx.doi.org/10.1177/0278364919881689.

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This article reports an adaptive sensor bias observer and attitude observer operating directly on [Formula: see text] for true-north gyrocompass systems that utilize six-degree-of-freedom inertial measurement units (IMUs) with three-axis accelerometers and three-axis angular rate gyroscopes (without magnetometers). Most present-day low-cost robotic vehicles employ attitude estimation systems that employ microelectromechanical system (MEMS) magnetometers, angular rate gyros, and accelerometers to estimate magnetic attitude (roll, pitch, and magnetic heading) with limited heading accuracy. Present-day MEMS gyros are not sensitive enough to dynamically detect the Earth’s rotation, and thus cannot be used to estimate true-north geodetic heading. Relying on magnetic compasses can be problematic for vehicles that operate in environments with magnetic anomalies and those requiring high-accuracy navigation as the limited accuracy ([Formula: see text] error) of magnetic compasses is typically the largest error source in underwater vehicle navigation systems. Moreover, magnetic compasses need to undergo time-consuming recalibration for hard-iron and soft-iron errors every time a vehicle is reconfigured with a new instrument or other payload, as very frequently occurs on oceanographic marine vehicles. In contrast, the gyrocompass system reported herein utilizes fiber optic gyroscope (FOG) IMU angular rate gyro and MEMS accelerometer measurements (without magnetometers) to dynamically estimate the instrument’s time-varying true-north attitude (roll, pitch, and geodetic heading) in real-time while the instrument is subject to a priori unknown rotations. This gyrocompass system is immune to magnetic anomalies and does not require recalibration every time a new payload is added to or removed from the vehicle. Stability proofs for the reported bias and attitude observers, preliminary simulations, and a full-scale vehicle trial are reported that suggest the viability of the true-north gyrocompass system to provide dynamic real-time true-north heading, pitch, and roll utilizing a comparatively low-cost FOG IMU.
17

Kenny, Rebecca A., Chantel D. Mayo, Samantha Kennedy, Aaron A. Varga, Lynneth Stuart-Hill, Mauricio A. Garcia-Barrera, Amanda McQuarrie, Brian R. Christie, and Jodie R. Gawryluk. "A pilot study of diffusion tensor imaging metrics and cognitive performance pre and post repetitive, intentional sub-concussive heading in soccer practice." Journal of Concussion 3 (January 2019): 205970021988550. http://dx.doi.org/10.1177/2059700219885503.

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Background Although soccer players routinely head the ball in practice and games, recent research has suggested that cumulative effects of repetitive heading may cause sub-concussive injury with accompanying effects on brain and behavior. The current study aimed to prospectively investigate the effects of repetitive, intentional heading in soccer practice on brain structure and cognitive function, using a within-subjects design. Methods Participants included 10 soccer players (mean age 20.09 years ± 2.88) who were examined immediately pre- and post-heading practice. An accelerometer was used to measure the force of the impact during soccer heading. Magnetic resonance imaging data were acquired on a 3 T GE Scanner with diffusion tensor imaging. Diffusion tensor imaging analyses were completed using functional magnetic resonance imaging of the brain software library’s Tract-Based Spatial Statistics to examine changes in both fractional anisotropy and mean diffusivity due to heading the soccer ball. Behavioral measures were also completed pre- and post-soccer heading and included the Sport Concussion Assessment Tool and three short-computerized executive function tasks; R studio was used to compare behavioral data within subjects. Results Accelerometer data revealed that none of the heading impacts were >10 g. At this level of impact, there were no significant pre–post heading differences in either fractional anisotropy or mean diffusivity. Additionally, aside from minimal practice effects, there were no significant differences in Sport Concussion Assessment Tool scores and no significant differences in the performance of the three executive function tasks pre–post heading. Conclusions The results provide initial evidence that repetitive heading in soccer practice, at a g force of 10, does not cause changes in brain structure or executive function. Future research should investigate heading in the context of games and with a greater sample size that would allow for sex-based comparisons.
18

Renaudin, Valérie, Muhammad Haris Afzal, and Gérard Lachapelle. "Complete Triaxis Magnetometer Calibration in the Magnetic Domain." Journal of Sensors 2010 (2010): 1–10. http://dx.doi.org/10.1155/2010/967245.

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This paper presents an algorithm for calibrating erroneous tri-axis magnetometers in the magnetic field domain. Unlike existing algorithms, no simplification is made on the nature of errors to ease the estimation. A complete error model, including instrumentation errors (scale factors, nonorthogonality, and offsets) and magnetic deviations (soft and hard iron) on the host platform, is elaborated. An adaptive least squares estimator provides a consistent solution to the ellipsoid fitting problem and the magnetometer's calibration parameters are derived. The calibration is experimentally assessed with two artificial magnetic perturbations introduced close to the sensor on the host platform and without additional perturbation. In all configurations, the algorithm successfully converges to a good estimate of the said errors. Comparing the magnetically derived headings with a GNSS/INS reference, the results show a major improvement in terms of heading accuracy after the calibration.
19

Vitiello, Federica, Flavia Causa, Roberto Opromolla, and Giancarmine Fasano. "Onboard and External Magnetic Bias Estimation for UAS through CDGNSS/Visual Cooperative Navigation." Sensors 21, no. 11 (May 21, 2021): 3582. http://dx.doi.org/10.3390/s21113582.

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This paper describes a calibration technique aimed at combined estimation of onboard and external magnetic disturbances for small Unmanned Aerial Systems (UAS). In particular, the objective is to estimate the onboard horizontal bias components and the external magnetic declination, thus improving heading estimation accuracy. This result is important to support flight autonomy, even in environments characterized by significant magnetic disturbances. Moreover, in general, more accurate attitude estimates provide benefits for georeferencing and mapping applications. The approach exploits cooperation with one or more “deputy” UAVs and combines drone-to-drone carrier phase differential GNSS and visual measurements to attain magnetic-independent attitude information. Specifically, visual and GNSS information is acquired at different heading angles, and bias estimation is modelled as a non-linear least squares problem solved by means of the Levenberg–Marquardt method. An analytical error budget is derived to predict the achievable accuracy. The method is then demonstrated in flight using two customized quadrotors. A pointing analysis based on ground and airborne control points demonstrates that the calibrated heading estimate allows obtaining an angular error below 1°, thus resulting in a substantial improvement against the use of either the non-calibrated magnetic heading or the multi-sensor-based solution of the DJI onboard navigation filter, which determine angular errors of the order of several degrees.
20

Fallah, Mohammad Amir, and Mehdi Monemi. "Determination of Vessel Heading using Magnetic Wake Imaging." International Journal of Coastal and Offshore Engineering 5, no. 3 (September 1, 2021): 19–25. http://dx.doi.org/10.52547/ijcoe.5.3.19.

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21

Renaudin, Valérie, Muhammad Haris Afzal, and Gérard Lachapelle. "Magnetic perturbations detection and heading estimation using magnetometers." Journal of Location Based Services 6, no. 3 (September 2012): 161–85. http://dx.doi.org/10.1080/17489725.2012.698109.

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22

Macilwain, Colin. "Is magnetic fusion heading for ignition or meltdown?" Nature 388, no. 6638 (July 1997): 115–16. http://dx.doi.org/10.1038/40493.

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23

Ma, Ming, Qian Song, Yang Gu, and Zhimin Zhou. "Use of Magnetic Field for Mitigating Gyroscope Errors for Indoor Pedestrian Positioning." Sensors 18, no. 8 (August 7, 2018): 2592. http://dx.doi.org/10.3390/s18082592.

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In the field of indoor pedestrian positioning, the improved Quasi-Static magnetic Field (iQSF) method has been proposed to estimate gyroscope biases in magnetically perturbed environments. However, this method is only effective when a person walks along straight-line paths. For other curved or more complex path patterns, the iQSF method would fail to detect the quasi-static magnetic field. To address this issue, a novel approach is developed for quasi-static magnetic field detection in foot-mounted Inertial Navigation System. The proposed method detects the quasi-static magnetic field using the rate of change in differences between the magnetically derived heading and the heading derived from gyroscope. In addition, to eliminate the distortions caused by system platforms and shoes, a magnetometer calibration method is developed and the calibration is transformed from three-dimensional to two-dimensional coordinate according to the motion model of a pedestrian. The experimental results demonstrate that the proposed method can provide superior performance in suppressing the heading errors with the comparison to iQSF method.
24

Manos, Adi, Itzik Klein, and Tamir Hazan. "Gravity-Based Methods for Heading Computation in Pedestrian Dead Reckoning." Sensors 19, no. 5 (March 7, 2019): 1170. http://dx.doi.org/10.3390/s19051170.

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One of the common ways for solving indoor navigation is known as Pedestrian Dead Reckoning (PDR), which employs inertial and magnetic sensors typically embedded in a smartphone carried by a user. Estimation of the pedestrian’s heading is a crucial step in PDR algorithms, since it is a dominant factor in the positioning accuracy. In this paper, rather than assuming the device to be fixed in a certain orientation on the pedestrian, we focus on estimating the vertical direction in the sensor frame of an unconstrained smartphone. To that end, we establish a framework for gravity direction estimation and highlight the important role it has for solving the heading in the horizontal plane. Furthermore, we provide detailed derivation of several approaches for calculating the heading angle, based on either the gyroscope or the magnetic sensor, all of which employ the estimated vertical direction. These various methods—both for gravity direction and for heading estimation—are demonstrated, analyzed and compared using data recorded from field experiments with commercial smartphones.
25

Wondosen, Assefinew, Jin-Seok Jeong, Seung-Ki Kim, Yisak Debele, and Beom-Soo Kang. "Improved Attitude and Heading Accuracy with Double Quaternion Parameters Estimation and Magnetic Disturbance Rejection." Sensors 21, no. 16 (August 13, 2021): 5475. http://dx.doi.org/10.3390/s21165475.

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The use of unmanned aerial vehicle (UAV) applications has grown rapidly over the past decade with the introduction of low-cost microelectromechanical system (MEMS)-based sensors that measure angular velocity, gravity, and magnetic field, which are important for an object orientation determination. However, the use of low-cost sensors has also been limited because their readings are easily distorted by unwanted internal and/or external noise signals such as environmental magnetic disturbance, which lead to errors in attitude and heading estimation results. In an extended Kalman filter (EKF) process, this study proposes a method for mitigating the effect of magnetic disturbance on attitude determination by using a double quaternion parameters for representation of orientation states, which decouples the magnetometer from attitude computation. Additionally, an online measurement error covariance matrix tuning system was implemented to reject the impact of magnetic disturbance on the heading estimation. Simulation and experimental tests were conducted to verify the performance of the proposed methods in resolving the magnetic noise effect on attitude and heading. The results showed that the proposed method performed better than complimentary, gradient descent, and single quaternion-based EKF.
26

Xiao, Wen Jian, and Ping Lu. "Research on Automatic Magnetic Deviation Compensation of Electronic Compass for Quadrotor." Applied Mechanics and Materials 347-350 (August 2013): 995–99. http://dx.doi.org/10.4028/www.scientific.net/amm.347-350.995.

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In magnetic heading measurement of quadrotor, it is necessary to compensate the magnetic deviation of the electronic magnetic compass. For the flight characteristics of quadrotor, a method using sampling data when the aircraft is in the air to achieve automatic compensation of the deviation has been proposed. Using elliptical hypothesis method one can only compensate deviation for quadrotor flying in horizontal plane by collecting the magnetic sensor data in different directions. When the quadrotor flying in any attitudes, using ellipsoid hypothesis method can obtain parameters used by magnetic deviation compensation. Using these parameters, the pitch and roll angles of quadrotor, the magnetic deviation could be compensated. Experimental results show that this method works well and has a good real time performance. The measurement error of heading angle could be less than 1 °.
27

Zhang, Liqiang, Yu Liu, and Jinglin Sun. "A Hybrid Framework for Mitigating Heading Drift for a Wearable Pedestrian Navigation System through Adaptive Fusion of Inertial and Magnetic Measurements." Applied Sciences 11, no. 4 (February 22, 2021): 1902. http://dx.doi.org/10.3390/app11041902.

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Pedestrian navigation systems could serve as a good supplement for other navigation methods or for extending navigation into areas where other navigation systems are invalid. Due to the accumulation of inertial sensing errors, foot-mounted inertial-sensor-based pedestrian navigation systems (PNSs) suffer from drift, especially heading drift. To mitigate heading drift, considering the complexity of human motion and the environment, we introduce a novel hybrid framework that integrates a foot-state classifier that triggers the zero-velocity update (ZUPT) algorithm, zero-angular-rate update (ZARU) algorithm, and a state lock, a magnetic disturbance detector, a human-motion-classifier-aided adaptive fusion module (AFM) that outputs an adaptive heading error measurement by fusing heuristic and magnetic algorithms rather than simply switching them, and an error-state Kalman filter (ESKF) that estimates the optimal systematic error. The validation datasets include a Vicon loop dataset that spans 324.3 m in a single room for approximately 300 s and challenging walking datasets that cover large indoor and outdoor environments with a total distance of 12.98 km. A total of five different frameworks with different heading drift correction methods, including the proposed framework, were validated on these datasets, which demonstrated that our proposed ZUPT–ZARU–AFM–ESKF-aided PNS outperforms other frameworks and clearly mitigates heading drift.
28

Bezkorovainyi, Yurii, Olha Sushchenko, and Oleg Melaschenko. "Influence of Magnetic Field Created by UAV Motors on Accuracy of Flight Control." Electronics and Control Systems 2, no. 72 (November 20, 2022): 45–51. http://dx.doi.org/10.18372/1990-5548.72.16942.

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The article deals with the problem of researching the influence of the magnetic field caused by unmanned aerial vehicle navigation equipment. The possibilities of using magnetometric information in modern aviation are analyzed. The process of integrating inertial sensors and magnetometric devices for determining moving vehicle orientation is shown. The tested unmanned aerial vehicle, and attitude and heading reference system, which is used for magnetic heading determination, are described. Features of the experimental test and sequence of its stages are represented. The results of the experiment are given in a graphical way. The analysis of the obtained results is represented.
29

Liu, Yanxia, Zhikai Hu, and JianJun Fang. "Two-step calibration method for three-axis magnetic sensor error based on particle swarm optimization." Sensor Review 40, no. 5 (August 24, 2020): 577–83. http://dx.doi.org/10.1108/sr-01-2020-0013.

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Purpose The three-axis magnetic sensors are mostly calibrated by scalar method such as ellipsoid fitting and so on, but these methods cannot completely determine the 12 parameters of the error model. A two-stage calibration method based on particle swarm optimization (TSC-PSO) is proposed, which makes full use of the amplitude invariance and direction invariance of Earth’s magnetic field vector. Design/methodology/approach The TSC-PSO designs two-stage fitness function. Stage 1: design a fitness function of the particle swarm by the amplitude invariance of the Earth’s magnetic field to obtain a preliminary error matrix G and the bias error B. Stage 2: further design the fitness function of the particle swarm by the invariance of the Earth’s magnetic field to obtain a rotation matrix R, thereby determining the error matrix uniquely. Findings The proposed TSC-PSO can completely determine 12 unknown parameters in error model and further decrease the maximum fluctuation error of the Earth’s magnetic field amplitude and the absolute error of heading. Practical implications The proposed TSC-PSO provides an effective solution for three-axis magnetic sensor error compensation, which can greatly reduce the price of magnetic sensors and be used in the fields of Earth’s magnetic survey, drilling and Earth’s magnetic integrated navigation. Originality/value The proposed TSC-PSO has significantly improved the magnetic field amplitude and heading accuracy and does not require additional heading reference. In addition, the method is insensitive to noise and initialization conditions, has good robustness and can converge to a global optimum.
30

Niendorf, Thoralf, Jan-Willem M. Beenakker, Sönke Langner, Katharina Erb-Eigner, Meritxell Bach Cuadra, Ebba Beller, Jason M. Millward, Thea Marie Niendorf, and Oliver Stachs. "Ophthalmic Magnetic Resonance Imaging: Where Are We (Heading To)?" Current Eye Research 46, no. 9 (February 4, 2021): 1251–70. http://dx.doi.org/10.1080/02713683.2021.1874021.

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31

Ishigami, Tomohiko. "The Footmark and Compass heading of the Magnetic Attachment." Annals of Japan Prosthodontic Society 6, no. 4 (2014): 343–50. http://dx.doi.org/10.2186/ajps.6.343.

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32

Fallah, Mohammad Amir. "Obtaining Submarine Heading Using Magnetic Wake in Shallow Waters." Journal of Oceanography 8, no. 30 (September 1, 2017): 47–52. http://dx.doi.org/10.29252/joc.8.30.47.

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33

Arpaia, Pasquale, Umberto Cesaro, Daniele Gatti, and Nicola Moccaldi. "An Ultrasonic Heading Goniometer Intrinsically Robust to Magnetic Interference." IEEE Transactions on Instrumentation and Measurement 69, no. 11 (November 2020): 8735–43. http://dx.doi.org/10.1109/tim.2020.2996785.

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34

Ahn, H. S. "Vision-based magnetic heading sensor for mobile robot guidance." Electronics Letters 45, no. 16 (2009): 819. http://dx.doi.org/10.1049/el.2009.1477.

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35

Zeng, Qinghua, Shijie Zeng, Jianye Liu, Qian Meng, Ruizhi Chen, and Heze Huang. "Smartphone Heading Correction Based on Gravity Assisted and Middle Time Simulated-Zero Velocity Update Method." Sensors 18, no. 10 (October 7, 2018): 3349. http://dx.doi.org/10.3390/s18103349.

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Electronic appliances and ferromagnetic materials can be easily found in any building in urban environment. A steady magnetic environment and a pure value of geomagnetic field for calculating the heading of the smartphone in case of pedestrian walking indoors is hard to obtain. Therefore, an independent inertial heading correction algorithm without involving magnetic field but only making full use of the embedded Micro-Electro-Mechanical System (MEMS) Inertial measurement unit (IMU) device in the smartphone is presented in this paper. Aiming at the strict navigation requirements of pedestrian smartphone positioning, the algorithm focused in this paper consists of Gravity Assisted (GA) and Middle Time Simulated-Zero Velocity Update (MTS-ZUPT) methods. With the help of GA method, the different using-mode of the smartphone can be judged based on the data from the gravity sensor of smartphone. Since there is no zero-velocity status for handheld smartphone, the MTS-ZUPT algorithm is proposed based on the idea of Zero Velocity Update (ZUPT) algorithm. A Kalman Filtering algorithm is used to restrain the heading divergence at the middle moment of two steps. The walking experimental results indicate that the MTS-ZUPT algorithm can effectively restrain the heading error diffusion without the assistance of geomagnetic heading. When the MTS-ZUPT method was integrated with GA method, the smartphone navigation system can autonomously judge the using-mode and compensate the heading errors. The pedestrian positioning accuracy is significantly improved and the walking error is only 1.4% to 2.0% of the walking distance in using-mode experiments of the smartphone.
36

Zhu, Ping, Xuexiang Yu, Yuchen Han, Xingxing Xiao, and Yu Liu. "Improving Indoor Pedestrian Dead Reckoning for Smartphones under Magnetic Interference Using Deep Learning." Sensors 23, no. 23 (November 23, 2023): 9348. http://dx.doi.org/10.3390/s23239348.

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As micro-electro-mechanical systems (MEMS) technology continues its rapid ascent, a growing array of smart devices are integrating lightweight, compact, and cost-efficient magnetometers and inertial sensors, paving the way for advanced human motion analysis. However, sensors housed within smartphones frequently grapple with the detrimental effects of magnetic interference on heading estimation, resulting in diminished accuracy. To counteract this challenge, this study introduces a method that synergistically employs convolutional neural networks (CNNs) and support vector machines (SVMs) for adept interference detection. Utilizing a CNN, we automatically extract profound features from single-step pedestrian motion data that are then channeled into an SVM for interference detection. Based on these insights, we formulate heading estimation strategies aptly suited for scenarios both devoid of and subjected to magnetic interference. Empirical assessments underscore our method’s prowess, boasting an impressive interference detection accuracy of 99.38%. In indoor environments influenced by such magnetic disturbances, evaluations conducted along square and equilateral triangle trajectories revealed single-step heading absolute error averages of 2.1891° and 1.5805°, with positioning errors averaging 0.7565 m and 0.3856 m, respectively. These results lucidly attest to the robustness of our proposed approach in enhancing indoor pedestrian positioning accuracy in the face of magnetic interferences.
37

Thurnherr, A. M., I. Goszczko, and F. Bahr. "Improving LADCP Velocity with External Heading, Pitch, and Roll." Journal of Atmospheric and Oceanic Technology 34, no. 8 (August 2017): 1713–21. http://dx.doi.org/10.1175/jtech-d-16-0258.1.

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AbstractData collected with acoustic Doppler current profilers installed on CTD rosettes and lowered through the water column [lowered ADCP (LADCP) systems] are routinely used to derive full-depth profiles of ocean velocity. In addition to the uncertainties arising from random noise in the along-beam velocity measurements, LADCP-derived velocities are commonly contaminated by bias errors due to imperfectly measured instrument attitude (heading, pitch, and roll). Of particular concern are the heading measurements, because it is not usually feasible to calibrate the internal ADCP compasses with the instruments installed on a CTD rosette, away from the magnetic disturbances of the ship. Heading data from dual-headed LADCP systems, which consist of upward- and downward-pointing ADCPs installed on the same rosette, commonly indicate heading-dependent compass errors with amplitudes exceeding 10°. In an attempt to reduce LADCP velocity errors, several dozen profiles of simultaneous LADCP and magnetometer/accelerometer data were collected in the Gulf of Mexico. Agreement between the LADCP profiles and simultaneous shipboard velocity measurements improves significantly when the former are processed with external attitude measurements. Another set of LADCP profiles with external attitude data was collected in a region of the Arctic Ocean where the horizontal geomagnetic field is too weak for the ADCP compasses to work reliably. Good agreement between shipboard velocity measurements and Arctic LADCP profiles collected at magnetic dip angles exceeding and processed with external attitude measurements indicate that high-quality velocity profiles can be obtained close to the magnetic poles.
38

Felski, Andrzej, and Krzysztof Jaskólski. "The Properties of a Ship’s Compass in the Context of Ship Manoeuvrability." Sensors 23, no. 3 (January 21, 2023): 1254. http://dx.doi.org/10.3390/s23031254.

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In evaluating the accuracy of most navigation measuring systems, it is accepted, as a rule, that measurement errors are characterised by a normal distribution. With reference to the compass, the approach of most producers is similar. However, in the case of this measuring device, the dynamics of the ship should also be taken into account. The problem is that any changes in the ship’s heading can be measured exclusively with the use of a compass. Until quite recently, this device was built based on mechanical elements, so it possessed its own dynamic properties. This means the appearance of specific, positive feedback (self-reinforcing feedback) because if the compass did not point to the correct heading, it could lead the ship to stray from the correct heading. On the other hand, it could mean an incorrect compass setup, even though the ship had the correct heading. Any incorrect indications of the compass were then interpreted as a ship’s departure from the correct heading. This problem was not essential in the era of magnetic compasses because the errors in these compasses are relatively constant, unlike the errors in gyrocompasses, which have an oscillatory and random character and, thus, it is not possible to describe them accurately with mathematical relations. This issue was already perceived before WWII, when the Anschutz Company proposed, among other solutions, using the so-called Schuler period in the construction of gyrocompasses. Fibre optic gyrocompasses do not possess mechanical sensors, so the variability of their indications is of a different character. However, computational processes, as well as applied inertial sensors, also cause certain errors of an oscillatory nature. This raises the following questions: what is the spectrum of the error frequency of such compasses, and what is the influence of the ship’s movement on them? The authors attempted to evaluate this phenomenon by performing measurements made on board three hydrographic platforms and comparing them with the headings indicated by other compasses.
39

Yu, Chen, Luo Haiyong, Zhao Fang, Wang Qu, and Shao Wenhua. "Adaptive Kalman filtering-based pedestrian navigation algorithm for smartphones." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142093093. http://dx.doi.org/10.1177/1729881420930934.

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Pedestrian navigation with daily smart devices has become a vital issue over the past few years and the accurate heading estimation plays an essential role in it. Compared to the pedestrian dead reckoning (PDR) based solutions, this article constructs a scalable error model based on the inertial navigation system and proposes an adaptive heading estimation algorithm with a novel method of relative static magnetic field detection. To mitigate the impact of magnetic fluctuation, the proposed algorithm applies a two-way Kalman filter process. Firstly, it achieves the historical states with the optimal smoothing algorithm. Secondly, it adjusts the noise parameters adaptively to reestimate current attitudes. Different from the pedestrian dead reckoning-based solution, the error model system in this article contains more state information, which means it is more sensitive and scalable. Moreover, several experiments were conducted, and the experimental results demonstrate that the proposed heading estimation algorithm obtains better performance than previous approaches and our system outperforms the PDR system in terms of flexibility and accuracy.
40

Chai, Chen, and Wang. "A Novel Method of Adaptive Kalman Filter for Heading Estimation Based on an Autoregressive Model." Applied Sciences 9, no. 18 (September 6, 2019): 3727. http://dx.doi.org/10.3390/app9183727.

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With the popularity of smartphones and the development of microelectromechanical system (MEMS), the pedestrian dead reckoning (PDR) algorithm based on the built-in sensors of a smartphone has attracted much research. Heading estimation is the key to obtaining reliable position information. Hence, an adaptive Kalman filter (AKF) based on an autoregressive model (AR) is proposed to improve the accuracy of heading for pedestrian dead reckoning in a complex indoor environment. Our approach uses an autoregressive model to build a Kalman filter (KF), and the heading is calculated by the gyroscope, obtained by the magnetometer, and stored by previous estimates, then are fused to determine the measurement heading. An AKF based on the innovation sequence is used to adaptively adjust the state variance matrix to enhance the accuracy of the heading estimation. In order to suppress the drift of the gyroscope, the heading calculated by the AKF is used to correct the heading calculated by the outputs of the gyroscope if a quasi-static magnetic field is detected. Data were collected using two smartphones. These experiments showed that the average error of two-dimensional (2D) position estimation obtained by the proposed algorithm is reduced by 40.00% and 66.39%, and the root mean square (RMS) is improved by 43.87% and 66.79%, respectively, for these two smartphones.
41

Schultze, Volkmar, Theo Scholtes, Gregor Oelsner, Florian Wittkaemper, Torsten Wieduwilt, and Ronny Stolz. "An Optically Pumped Magnetometer with Omnidirectional Magnetic Field Sensitivity." Sensors 23, no. 15 (August 2, 2023): 6866. http://dx.doi.org/10.3390/s23156866.

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In mobile applications such as geomagnetic surveying, two major effects hamper the use of optically pumped magnetometers: dead zones, sensor orientations where the sensors signal amplitude drops; and heading errors, a dependence of the measured magnetic field value on the sensor orientation. We present a concept for an omnidirectional magnetometer to overcome both of these effects. The sensor uses two cesium vapor cells, interrogated by circularly-polarized amplitude-modulated laser light split into two beams propagating perpendicular to each other. This configuration is experimentally investigated using a setup wherein the laser beam and magnetic field direction can be freely adjusted relative to each other within a magnetically shielded environment. We demonstrate that a dead-zone-free magnetometer can be realized with nearly isotropic magnetic-field sensitivity. While in the current configuration we observe heading errors emerging from light shifts and shifts due to the nonlinear Zeeman effect, we introduce a straightforward approach to suppress these systematic effects in an advanced sensor realization.
42

Zhang, Xiao Juan, Xi Sheng Li, and Yi Bo Feng. "Electronic Compass Calibration in Pedestrian Navigation System." Advanced Materials Research 490-495 (March 2012): 1246–50. http://dx.doi.org/10.4028/www.scientific.net/amr.490-495.1246.

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In this paper, a kind of pedestrian navigation system (PNS) that based on Earth’s magnetic field is introduced, and the error of the build-in electronic compass is analyzed, and an efficient calibration algorithm is presented. The PNS is determined pedestrian’s movement locus by calculating the heading angle and analyzing the movement characteristic, and then using the dead reckoning algorithm to combine the information together. The precision of PNS is affected by the error of the electric compass, because the heading angle is calculated from the magnetic field data measured by the compass. In order to reduce the measure error, a direct method which is used to calibrate the compass, based on ellipsoid fitting, is developed.
43

Chen, Howard, Mark C. Schall, and Nathan Fethke. "Effects of Movement Speed and Magnetic Disturbance on the Accuracy of Inertial Measurement Units." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 61, no. 1 (September 2017): 1046–50. http://dx.doi.org/10.1177/1541931213601745.

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This study evaluated the effects of motion speed and magnetic disturbance on the spatial orientation accuracy of an inertial measurement unit (IMU) on the hand. Thirteen participants performed six trials of a repetitive material transfer task. Movement speed (15, 30, 45 transfers/minute) and magnetic disturbance (absent, present) were the independent variables. Optical motion capture was the reference. Root-mean-square differences (RMSD) exceeded 20° when inclination measurements (pitch and roll) were calculated using the IMU accelerometer. A linear Kalman filter and a proprietary, embedded Kalman filter reduced inclination RMSD to <3° across all movement speeds. The RMSD in the heading direction (i.e., about gravity) increased (from <5° to 17°) under magnetic disturbance. The linear Kalman filter and the embedded Kalman filter reduced heading RMSD to <12° and <7°, respectively. Use of IMUs and Kalman filters can improve inclinometer measurement accuracy. However, magnetic disturbances continue to limit the accuracy of three- dimensional IMU motion capture.
44

Ettlinger, Andreas, Andreas Wieser,, and Hans Neuner. "Robust Determination of Smartphone Heading by Mitigation of Magnetic Anomalies." NAVIGATION: Journal of the Institute of Navigation 71, no. 1 (2024): navi.632. http://dx.doi.org/10.33012/navi.632.

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45

Livada, Vujić, Radić, Unkašević, and Banjac. "Digital Magnetic Compass Integration with Stationary, Land-Based Electro-Optical Multi-Sensor Surveillance System." Sensors 19, no. 19 (October 7, 2019): 4331. http://dx.doi.org/10.3390/s19194331.

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Multi-sensor imaging systems using the global navigation satellite system (GNSS) and digital magnetic compass (DMC) for geo-referencing have an important role and wide application in long-range surveillance systems. To achieve the required system heading accuracy, the specific magnetic compass calibration and compensation procedures, which highly depend on the application conditions, should be applied. The DMC compensation technique suitable for the operation environment is described and different technical solutions are studied. The application of the swinging procedure was shown as a good solution for DMC compensation in a given application. The selected DMC was built into a system to be experimentally evaluated, both under laboratory and field conditions. The implementation of the compensation procedure and magnetic sensor integration in systems is described. The heading accuracy measurement results show that DMC could be successfully integrated and used in long-range surveillance systems providing required geo-referencing data.
46

Tian, Xiaochun, Jiabin Chen, Yongqiang Han, Jianyu Shang, and Nan Li. "Pedestrian navigation system using MEMS sensors for heading drift and altitude error correction." Sensor Review 37, no. 3 (June 19, 2017): 270–81. http://dx.doi.org/10.1108/sr-07-2016-0125.

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Purpose This study aims to design an optimized algorithm for low-cost pedestrian navigation system (PNS) to correct the heading drift and altitude error, thus achieving high-precise pedestrian location in both two-dimensional (2-D) and three-dimensional (3-D) space. Design/methodology/approach A novel heading correction algorithm based on smoothing filter at the terminal of zero velocity interval (ZVI) is proposed in the paper. This algorithm adopts the magnetic sensor to calculate all the heading angles in the ZVI and then applies a smoothing filter to obtain the optimal heading angle. Furthermore, heading correction is executed at the terminal moment of ZVI. Meanwhile, an altitude correction algorithm based on step height constraint is proposed to suppress the altitude channel divergence of strapdown inertial navigation system by using the step height as the measurement of the Kalman filter. Findings The verification experiments were carried out in 2-D and 3-D space to evaluate the performance of the proposed pedestrian navigation algorithm. The results show that the heading drift and altitude error were well corrected. Meanwhile, the path calculated by the novel algorithm has a higher match degree with the reference trajectory, and the positioning errors of the 2-D and 3-D trajectories are both less than 0.5 per cent. Originality/value Besides zero velocity update, another two problems, namely, heading drift and altitude error in the PNS, are solved, which ensures the high positioning precision of pedestrian in indoor and outdoor environments.
47

Li, Xi Sheng, Yan Xia Liu, Xiong Ying Shu, and Rui Qing Kang. "MEMS Gyro Aided Calibration of Electronic Compass." Advanced Materials Research 443-444 (January 2012): 144–49. http://dx.doi.org/10.4028/www.scientific.net/amr.443-444.144.

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In this paper, an MEMS gyro aided on line calibration algorithm for electronic compass is presented. This electronic compass module consists of a three-axis AMR sensor, a two-axis MEMS tilt sensor and a one-axis MEMS gyro. The automatic calibration method requires to rotate the electronic compass two full 360-degree revolution. In this rotation procedure, magnetic field data, attitude data and angular rate data are recorded. Based on recorded magnetic field data and attitude data, raw heading data is calculated. This raw heading data is verified by angular rate output of MEMS gyro. Results of experiment show that the accuracy of calibrated compass is better than 0.5 deg and MEMS gyro aided on line calibration algorithm is effective for electronic compass.
48

He, Baowei, Junhong Zhang, Shengdao Liu, and Fengxie Li. "A rapid measurement method for ship’s longitudinal and athwartship induced magnetic field." Journal of Physics: Conference Series 2248, no. 1 (April 1, 2022): 012013. http://dx.doi.org/10.1088/1742-6596/2248/1/012013.

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Abstract Induced magnetic field (IMF) measurement is a key step in the ship’s magnetic field treatment process. In this paper, a new method for rapid measurement of longitudinal and athwartship IMF is proposed, which can improve the traditional measurement method that is either time-consuming and labor-intensive, or dependent on the magnetic field uniformity of geomagnetic simulation coils. Using the geomagnetic simulation coil in the close-wrap magnetic treatment facility, a mapping model between the coil magnetic field and the ship’s magnetized field excited by the coil is constructed in a single-heading. Based on this single-heading-measurement method, numerical simulations and hull experiments are carried out. By combining the regularization technology, the results show that the proposed method can quickly and accurately measure the ship’s IMF, and can suppress the influence of measurement error on obtaining the IMF. Compared with the geomagnetic simulation method, proposed method not only has a great calculation accuracy and strong robustness, but also requires a lower magnetic field uniformity of the geomagnetic simulation coil, and can be used as a fast emergency measurement method for ship’s IMF in engineering.
49

Maiti, C. K. "WHERE ARE WE HEADING?" Solid-State Electronics 48, no. 8 (August 2004): 1253. http://dx.doi.org/10.1016/j.sse.2004.03.002.

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50

LI, Qingzhu, Zhining LI, Zhiyong SHI, and Hongbo FAN. "Single heading-line survey of MGTS for magnetic target pattern recognition." Optics and Precision Engineering 31, no. 6 (2023): 872–91. http://dx.doi.org/10.37188/ope.20233106.0872.

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