Sebastián Rodríguez-Martínez

Towards a Factor Graph-Based Method using Angular Rates for Full Magnetometer Calibration and Gyroscope Bias Estimation

MEMS Attitude Heading Reference Systems are widely employed to determine a system’s attitude, but sensor measurement biases limit their accuracy. This paper introduces a novel factor graph-based method called MAgnetometer and GYroscope Calibration (MAGYC). MAGYC leverages three-axis angular rate mea…