4 accepted papers
This letter addresses the problem of on-line estimation and compensation of the hard-iron and soft-iron biases of a 2-axis magnetometer under dynamic motion, utilizing only biased measurements from a 2-axis magnetometer. The proposed adaptive observer formulates the relation between the true magneti
Nine degrees of freedom (DOF) inertial measurement units (IMUs) comprised of three-axis magnetometers, three-axis accelerometers, and three-axis angular rate sensors are commonly used in attitude and heading reference systems (AHRSs). Two classes of AHRSs exist: systems that estimate true-North head…
This paper reports a novel stable adaptive attitude estimator and preliminary simulation results of a true-North gyrocompass system employing the attitude adaptive identifier and a commercially available low-cost inertial measurement unit (IMU) comprising a 3-axis fiber optic gyroscope (FOG) with a…
Six-degree of freedom (DOF) inertial measurement units (IMUs) are widely used for attitude estimation. However, such systems' accuracy is limited by the accuracy of calibration of bias, scale factors, and non-orthogonality of sensor measurements. This paper reports a stable adaptive estimator of mea…