Magnetometer Data Fusion Algorithms Performance In Indoor Navigation: Comparison, Calibration And Testing

This article describes usage of magnetometer sensors in data fusion algorithms for indoor navigation. A wireless sensor device was created to perform experiments. Multiple sensors were tested and their performance is compared among each other. The calibration algorithms are introduced and applied on the measurements while the results are compared. Finally, the magnetometer data are used to control gyroscopically stabilized platform and the performance of the stabilization is discussed. In the article we introduce a method for automatic compensation of the magnetometer induced errors and provide data which led to the method definition. © 2014 IEEE.388393IEEE AESS,IEEE Instrumentation and Measurement SocietyBlasch, E., Kondor, S., Gordon, M., Hsu, R., Georgia tech aerial robotics team competition entry (1994) J. Aerial Unmanned Vehicle Systems, pp. 20-25Breda, R., Lazar, T., Andoga, R., Madarasz, L., Optimising the aircraft lateral stabilization system in landing mode IEEE 11th International Symposium on Applied Machine Intelligence and Informatics, p. 221. , 225 doi: 10.1109/SAMI.2013.6480980Frantis, P., Pilot suit with integrated avionics (2012) Digital Avionics Systems Conference (DASC), pp. 2E1-1. , IEEE/AIAA 31st 2E1-7Paces, P., Popelka, J., Performance evaluation of two altimeters intended for positional angles measurement (2013) DASC 2013-32nd Digital Avionics Systems Conference 2013. Reston, pp. 8C51-8C511. , VA: AIAA, ISBN 978-1-4799-1536-1Paces, P., Popelka, J., Marchitto, E., Levora, T., Smart sensor data processing for aerospace applications in education illustrated by a small satellite platform demonstrator DASC 2012-31th Digital Avionics System Conference, pp. 1-8. , Williamsburg, Piscataway: IEEE Operations Center, ISBN 978-1-4673-1698-9Konvalin, C., Motion/velocity/displacement compensating for tilt (2009) Soft-iron Effects, , Hard-Iron, and, SensormagFranklin, F.G., Powell, J.D., Emami-Naeini, A., (2002) Feedback Control of Dynamics Systems, , 4rd ed., Prentice HallPaces, P., Popelka, J., Levora, T., Advanced display and position angles measurement systems (2012) 28th Congress of the International Council of the Aeronautical Sciences, pp. P631-P6314. , Brisbane, ISBN 978-0-9565333-1-