Efficient Simultaneous Calibration of a Magnetometer and an Accelerometer
Conrado Silva Miranda, Janito Vaqueiro Ferreira

TL;DR
This paper presents a calibration algorithm that simultaneously calibrates magnetometers and accelerometers using only sensor readings, achieving high accuracy in simulations and real-world tests.
Contribution
The novel algorithm calibrates both sensors simultaneously with a linear model and maximum likelihood, without requiring additional information.
Findings
Errors less than 0.1 standard deviations in simulation
High-quality estimates with real sensors
Robust performance despite assumption violations
Abstract
This paper describes a calibration algorithm to simultaneously calibrate a magnetometer and an accelerometer without any information besides the sensors readings. Using a linear sensor model and maximum likelihood cost, the algorithm is able to estimate both sensors' biases, gains, and covariances, besides sensor orientations and Earth's fields. Results show errors of less than 0.1 standard deviations in simulation, and high-quality estimates with real sensors even when the algorithm's assumptions are violated.
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Taxonomy
TopicsInertial Sensor and Navigation · Geophysics and Gravity Measurements · Magnetic Field Sensors Techniques
