Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Bias Estimation of Magnetic Field Measurement by AHRS Using UKF

UKF를 사용한 AHRS의 자기장 측정 편차 추정

  • Ko, Nak Yong (Department Electronic Engineering, Chosun University) ;
  • Song, Gyeongsub (Department Electronic Engineering, Chosun University) ;
  • Jeong, Seokki (Department Electronic Engineering, Chosun University) ;
  • Lee, Jong-Moo (Korea Research Institute of Ships & Ocean Engineering) ;
  • Choi, Hyun-Taek (Korea Research Institute of Ships & Ocean Engineering) ;
  • Moon, Yong Seon (Department Electronic Engineering, Sunchon National University)
  • 고낙용 (조선대학교 전자공학과) ;
  • 송경섭 (조선대학교 전자공학과) ;
  • 정석기 (조선대학교 전자공학과) ;
  • 이종무 (한국해양과학기술원 선박해양플랜트연구소) ;
  • 최현택 (한국해양과학기술원 선박해양플랜트연구소) ;
  • 문용선 (국립순천대학교 전자공학과)
  • Received : 2017.02.06
  • Accepted : 2017.04.20
  • Published : 2017.04.30
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Abstract

This paper describes an unscented Kalman filter approach to estimate the bias in magnetic field measurements. A microelectromechanical systems attitude heading reference system (MEMS AHRS) was used to measure the magnetic field, together with the acceleration and angular rate. A magnetic field is usually used for yaw detection, while the acceleration serves to detect the roll and pitch. Magnetic field measurements are vulnerable to distortion due to hard-iron effect and soft-iron effect. The bias in the measurement accounts for the hard-iron effect, and this paper focuses on an approach to estimate this bias. The proposed method is compared with other methods through experiments that implement the navigation of an underwater robot using an AHRS and Doppler velocity log. The results verify that the compensation of the bias by the proposed method improves the navigation performance more than or comparable to the compensation by other methods.

Keywords

References

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