Modeling and calibration of time-varying magnetometer biases in small unmanned aerial vehicles

Andrew Stewart, Demoz Gebre Egziabher

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper focuses on the problem of current-carrying wires found in the motor drive systems of small Unmanned Aerial Vehicles (UAV). It describes the nature of these errors and presents a systematic method for estimating them. The method can be generalized to other vehicles and methods for automating the algorithm are discussed. The benefit of calibrating these errors is demonstrated by the increased accuracy obtained on AHRS, solving Wahba's problem using mag-netometer measurements. In addition, the paper discusses practical challenges in measuring current onboard a small UAV using generic R/C components. A discussion of potential solutions that proved impractical is also presented are discussed so that other researchers can build on this work.

Original languageEnglish (US)
Title of host publication28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
PublisherInstitute of Navigation
Pages777-783
Number of pages7
ISBN (Electronic)9781510817258
StatePublished - Jan 1 2015
Event28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015 - Tampa, United States
Duration: Sep 14 2015Sep 18 2015

Publication series

Name28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
Volume2

Other

Other28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015
CountryUnited States
CityTampa
Period9/14/159/18/15

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    Stewart, A., & Gebre Egziabher, D. (2015). Modeling and calibration of time-varying magnetometer biases in small unmanned aerial vehicles. In 28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015 (pp. 777-783). (28th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2015; Vol. 2). Institute of Navigation.