Volume 9, Issue 1, March 2021, Page: 1-10
A Magnetometer Calibration Method Using Single-Axis Motion Trajectory and Unscented Kalman Filter for Body Motion Capture Applications
Farzan Farhangian, Department of Electrical Engineering, ETS University of Quebec, Montreal, Canada
Saoussen Bilel, Department of Electrical Engineering, ETS University of Quebec, Montreal, Canada
Faramarz Farhangian, Department of Statistics, Shahid Beheshti University, Tehran, Iran
Rene Jr. Landry, Department of Electrical Engineering, ETS University of Quebec, Montreal, Canada
Received: Dec. 18, 2020;       Accepted: Dec. 25, 2020;       Published: Jan. 12, 2021
DOI: 10.11648/j.ijssn.20210901.11      View  5      Downloads  15
Abstract
Magnetometer calibration is a pre-processing step in the Attitude and Heading Reference Systems (AHRS) which has an essential role in many applications. The main purpose of this article is to derive an innovative and precise calibration approach for a magnetometer set installed on human body. To execute this calibration method, all the error parameters of multiple magnetometers are considered in an Unscented Kalman Filter (UKF) model for accurate estimation of calibration parameters. As achieving a precise estimation in Kalman filters-based algorithms needs an accurate and complete observation model, a special single-axis rotation trajectory for Inertial Measurement Unit (IMU) is performed to increase the observability rank of the calibration model. To evaluate the proposed method, five body-mounted sensors were experimented in the laboratory at the same time for applying in the body motion capture system. The results showed that all five sensors were well-calibrated without any need to be detached from the body and using any rotational robot arm. The resolution and precision of the proposed calibration method are assessed by the ellipsoid-fitting representation method. Consequently, all the body-mounted magnetometers were calibrated, on average, by about 1% uncertainty. The method can be used in every motion capture and AHRS applications due to its feasibility and simplicity.
Keywords
Magnetometer Calibration, Calibration, Motion Capture, Magnetometer, Inertial Sensors, Unscented Kalman Filter, MEMS
To cite this article
Farzan Farhangian, Saoussen Bilel, Faramarz Farhangian, Rene Jr. Landry, A Magnetometer Calibration Method Using Single-Axis Motion Trajectory and Unscented Kalman Filter for Body Motion Capture Applications, International Journal of Sensors and Sensor Networks. Vol. 9, No. 1, 2021, pp. 1-10. doi: 10.11648/j.ijssn.20210901.11
Copyright
Copyright © 2021 Authors retain the copyright of this article.
This article is an open access article distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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