Calibration of a magnetometer in an integrated navigation system of a small-class unmanned underwater vehicle
Abstract
Calibration of a magnetometer in an integrated navigation system of a small-class unmanned underwater vehicle
Incoming article date: 06.02.2025The article is devoted to the development and implementation of a two-stage magnetometer calibration algorithm integrated into the navigation system of a small-class unmanned underwater vehicle. At the first stage, an ellipsoidal approximation method is used to compensate for soft iron and hard iron distortion, ensuring the correct geometric location of magnetometer measurements. The second stage of calibration involves a method for estimating rotation between the coordinate systems of the magnetometer and accelerometer using quaternions as rotation parameters. Experimental verification of the algorithm demonstrated its effectiveness. Following completion of the two-step calibration, calibration parameters were determined and their use confirmed good consistency between magnetometer readings and actual magnetic field data, indicating the feasibility of using this technique for calibrating magnetometers.. The proposed algorithm for two-stage magnetometer calibration does not require laboratory equipment and can be carried out under real-world operating conditions. This makes it possible to integrate it into the onboard software of unmanned underwater vehicles.
Keywords: calibration, magnetometer, accelerometer, MEMS sensor, AHRS, navigation system, unmanned underwater vehicle, ellipsoid approximation, quaternion, magnetic inclination