Equivalence of magnetometer calibrations and soft iron magnetic field characterisation
Date
2015
Authors
Ellis, A.
Mizutani, A.
Chahl, J.
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Conference paper
Citation
Australian Aerospace Congress, 2015, pp.167-172
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16th Australian International Aerospace Congress (23 Feb 2015 - 24 Feb 2015 : Melbourne, Australia)
Abstract
Digital magnetometers in small scale devices are effected by soft iron and hard iron magnetic effects making them more difficult to calibrate than many other embedded sensors. A raw set of data from a three axis magnetometer is an ellipsoid. This paper will show that any calibration routine that is able to fit an ellipsoid to one of these data sets will be equivalent to
any other. Based on this a new technique will be used to characterise the magnetic field into its raw components, the soft iron magnitude and direction, the hard iron offsets and the scale
of the magnetometers. This technique has then been applied to both a simulated calibration data set which contains the full set of parameter ambiguities that affect integrated
magnetometers and also to the specific case of a small unmanned aerial vehicle’s autopilot instrumentation.
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Copyright 2015 Engineers Australia