Online three-axis magnetometer calibration for a pedestrian navigation system using a foot-mounted inertial navigation system

ZHANG Xinxi; ZHANG Rong; GUO Meifeng; CHENG Gaofeng; NIU Shulai

doi:10.16511/j.cnki.qhdxxb.2016.22.011

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Journal of Tsinghua University(Science and Technology) ›› 2016, Vol. 56 ›› Issue (2) : 211-217. DOI: 10.16511/j.cnki.qhdxxb.2016.22.011

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Online three-axis magnetometer calibration for a pedestrian navigation system using a foot-mounted inertial navigation system

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Abstract

Foot-mounted inertial navigation systems (INS) having inexpensive micro electro mechanical system (MEMS)-based inertial sensors are widely used for pedestrian navigation. A foot-mounted INS can be combined with a magnetometer to constrain the heading angle error, but the magnetometer needs to be calibrated before use. This paper presents a magnetometer error model and an online calibration algorithm based on the foot-mounted INS characteristics. The magnetometer error characteristics and the foot-mounted INS mobility characteristics are used to develop a state equation and a magnetometer error measurement equation. An extended Kalman filter (EKF) is used for the online estimation and real-time calibration of the three-axis magnetometer errors with the zero velocity update (ZUPT) algorithm and a magnetic heading angle constraint algorithm for error constraint. The algorithm is validated by walking in a square playing ground. The results show that the online estimation and calibration algorithm reduce the end position error of the east direction from -110.7 to 1.8 m and the end position error of the north direction from 37.8 to 5.2 m compared to the system without calibration. This algorithm provides online calibration of magnetometer errors and significantly improves the positioning accuracy of pedestrian navigation.

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pedestrian navigation / foot-mounted inertial navigation system (INS) / zero velocity update (ZUPT) / extended Kalman filter (EKF) / magnetometer calibration

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ZHANG Xinxi, ZHANG Rong, GUO Meifeng, CHENG Gaofeng, NIU Shulai. Online three-axis magnetometer calibration for a pedestrian navigation system using a foot-mounted inertial navigation system[J]. Journal of Tsinghua University(Science and Technology). 2016, 56(2): 211-217 https://doi.org/10.16511/j.cnki.qhdxxb.2016.22.011

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