scholarly journals Magnetometer Calibration and Field Mapping through Thin Plate Splines

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 280 ◽  
Author(s):  
Marco Muraccini ◽  
Anna Mangia ◽  
Maurizio Lannocca ◽  
Angelo Cappello
Keyword(s):  
Magnetic Field ◽  
Thin Plate ◽  
Indoor Localization ◽  
Information Source ◽  
Attitude Estimation ◽  
Local Magnetic Field ◽  
Simultaneous Estimation ◽  
Thin Plate Splines ◽  
Field Mapping ◽  
Magnetometer Calibration

While the undisturbed Earth’s magnetic field represents a fundamental information source for orientation purposes, magnetic distortions have been mostly considered as a source of error. However, when distortions are temporally stable and spatially distinctive, they could provide a unique magnetic landscape that can be used in different applications, from indoor localization to sensor fusion algorithms for attitude estimation. The main purpose of this work, therefore, is to present a method to characterize the 3D magnetic vector in every point of the measurement volume. The possibility of describing the 3D magnetic field map through Thin Plate Splines (TPS) interpolation is investigated and demonstrated. An algorithm for the simultaneous estimation of the parameters related to magnetometer calibration and those describing the magnetic map, is proposed and tested on both simulated and real data. Results demonstrate that an accurate description of the local magnetic field using TPS interpolation is possible. The proposed procedure leads to errors in the estimation of the local magnetic direction with a standard deviation lower than 1 degree. Magnetometer calibration and magnetic field mapping could be integrated into different algorithms, for example to improve attitude estimation in highly distorted environments or as an aid to indoor localization.

scholarly journals Improving Attitude Estimation Using Gaussian-Process-Regression-Based Magnetic Field Maps

Sensors ◽  
2021 ◽  
Vol 21 (19) ◽  
pp. 6351
Author(s):  
Prince E. Kuevor ◽  
James W. Cutler ◽  
Ella M. Atkins
Keyword(s):  
Magnetic Field ◽  
Magnetic Fields ◽  
Gaussian Process ◽  
Spatial Variation ◽  
Three Dimensional ◽  
Gaussian Process Regression ◽  
Attitude Estimation ◽  
Local Magnetic Field ◽  
Mapping Techniques ◽  
The Magnetic Field

Magnetometers measure the local magnetic field and are present in most modern inertial measurement units (IMUs). Readings from magnetometers are used to identify Earth’s Magnetic North outdoors, but are often ignored during indoor experiments since the magnetic field does not behave how most expect. This paper presents methods to create, validate, and visualize three-dimensional magnetic field maps to expand the use of magnetic fields as a sensing modality for navigation. The utility of these maps is measured in their ability to accurately represent the magnetic field and to enable dynamic attitude estimation. In experiments with motion capture truth data, a small multicopter with three-axis inertial measurements, including magnetometer, traversed five flight profiles distinctly exciting roll, pitch, and yaw motion to provide interesting trajectories for attitude estimation. Indoor experimental results were compared to those outdoors to emphasize how spatial variation in the magnetic field drives the need for our mapping techniques. Our work presents a new way of visualizing 3D magnetic fields, which allows users to better reason about the magnetic field in their workspace. Next, we show that magnetic field maps generated from coverage patterns are generally more accurate, but training such maps using observations from desired flight paths is sufficient in the vicinity of these paths. All training sets were interpolated using Gaussian process regression (GPR), which yielded maps with <1 μT of error when interpolating between and extrapolating outside of observed locations. Finally, we validated the utility of our GPR-based maps in enabling attitude estimates in regions of high magnetic field spatial variation with experimental data.

scholarly journals Conceptual design of magnetic field mapping in polar coordinate for DECY 13 cyclotron

2021 ◽  
Vol 1825 (1) ◽  
pp. 012082
Author(s):  
I A Kudus ◽  
K Wibowo ◽  
P I Wahyono ◽  
F I Diah ◽  
E Mulyani ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Conceptual Design ◽  
Field Mapping ◽  
Magnetic Field Mapping ◽  
Polar Coordinate

scholarly journals Motional Stark Effect measurements of the local magnetic field in high temperature fusion plasmas

2015 ◽  
Vol 10 (10) ◽  
pp. P10008-P10008 ◽  
Author(s):  
R.C. Wolf ◽  
A. Bock ◽  
O.P. Ford ◽  
R. Reimer ◽  
A. Burckhart ◽  
...  
Keyword(s):  
Magnetic Field ◽  
High Temperature ◽  
Stark Effect ◽  
Local Magnetic Field ◽  
Fusion Plasmas ◽  
Motional Stark Effect
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