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UKF를 사용한 AHRS의 자기장 측정 편차 추정Bias Estimation of Magnetic Field Measurement by AHRS Using UKF

Other Titles
Bias Estimation of Magnetic Field Measurement by AHRS Using UKF
Authors
고낙용송경섭정석기이종무최현택문용선
Issue Date
2017
Publisher
한국해양공학회
Keywords
AHRS 자세 방위 장치; Unscented Kalman filter 무향 칼만 필터; Bias 편차; Estimation 추정; Underwater 수중
Citation
한국해양공학회지, v.31, no.2, pp 177 - 182
Pages
6
Journal Title
한국해양공학회지
Volume
31
Number
2
Start Page
177
End Page
182
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/7843
ISSN
1225-0767
2287-6715
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.
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