Improvement of Electronic Compass Accuracy Based on Magnetometer and Accelerometer Calibration

摘要

This paper describes the process used for an electronic compass compensation according to accelerometer based tilt evaluation. Tilt angles have to be estimated first for sensed magnetic vector components to be aligned and horizontal components evaluated. Therefore the precision of accelerometer based tilt angles plays a key role in this whole process as well as the magnetometer characteristics. Hence accelerometers plus magnetometers have to be calibrated to improve the accuracy of a tilt and an azimuth angle evaluation. The calibration uses Thin-Shell method to determine sensor error models. Both the effect of calibration and precision of estimated error models have been observed and are presented. The electronic compass consisted of tri-axial magnetometer and tri-axial accelerometer contained in the Inertial Measurement Unit ADIS16405 from Analog Devices manufacturer.