Real-Time Attitude-Independent Three-Axis Magnetometer Calibration for Spinning Projectiles: A Sliding Window Approach

摘要

This brief deals with attitude-independent three-axis magnetometer calibration in real time. The first part of this note presents a new model used for real-time estimation without any knowledge of the attitude of the projectile. The second part describes the other main contribution, which consists of a new simple and useful filter used for parameters estimation. The latter is formulated within the framework of an extended Kalman filter (EKF), which includes previous measurements in order to increase the performance and stability of the estimator. Finally, numerical simulations support the contribution of the presented algorithm. A good performance is shown through a smart projectile example in a noisy context, without requiring much more computation time than the classical EKF.