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
- 고낙용; 송경섭; 정석기; 이종무; 최현택; 문용선
- 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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