Modelling and Calibration of Time-Varying Magnetometer Biases in Small Unmanned Aerial Vehicles

Andrew Stewart and Demoz Gebre-Egziabher

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 magnetometer 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.
Published in:	Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015) September 14 - 18, 2015 Tampa Convention Center Tampa, Florida
Pages:	777 - 783
Cite this article:	Stewart, Andrew, Gebre-Egziabher, Demoz, "Modelling and Calibration of Time-Varying Magnetometer Biases in Small Unmanned Aerial Vehicles," Proceedings of the 28th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2015), Tampa, Florida, September 2015, pp. 777-783.
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