Systematic and Non-Systematic Position Error Correction of Wheeled Robots while Navigation in a Square

2006 ◽  
Author(s):  
Joe Yeol
Keyword(s):  
Error Correction ◽  
Systematic Position ◽  
Position Error ◽  
Wheeled Robots

scholarly journals Analysis and Correction of the Magnetometer’s Position Error in a Cross-Shaped Magnetic Tensor Gradiometer

Sensors ◽  
2020 ◽  
Vol 20 (5) ◽  
pp. 1290
Author(s):  
Youyu Yan ◽  
Yan Ma ◽  
Jianguo Liu
Keyword(s):  
Error Correction ◽  
Magnetic Moment ◽  
Correction Method ◽  
Position Error ◽  
Dipole Source ◽  
Gradient Tensor ◽  
Magnetic Gradient ◽  
Error Correction Method ◽  
Locating Error ◽  
The Relationship

When using the technique of magnetic gradient tensor measurements to obtain the position of magnetic objects, calibration of the magnetic tensor gradiometer plays a pivotal role in precisely locating the target, and extensive research has been carried out on this up to now. However, previous studies have always lacked sufficient discussion on the position error of magnetometers in magnetic tensor gradiometers caused by inaccurate installment of magnetometers. In this paper, we analyze and correct this position error based on a magnetic dipole source. The result of the simulation exemplifies that the magnetometer’s position error will affect the locating accuracy and, therefore, it is worth correcting this error. The relationship between position error and magnetic gradient tensor components is established, followed by an error correction method based on this relationship. Simulations illustrate that this method can effectively decrease the effect caused by the position error of magnetometers and improve the locating performance with locating error and magnetic moment errors dropping from 2 to 0.2 m and 6 × 10 5 A ⋅ m 2 to 5 × 10 4 A ⋅ m 2 , respectively.

Sign in / Sign up

Export Citation Format

Share Document