Investigation of the Different Maneuvering Modes of The Magnetometer Calibration for Pedestrian Navigation

A. S. Ali, S. Siddharth, N. El-Sheimy, Z. F. Syed, C. L. Goodall

Abstract:	The design of Personal Navigation Systems (PNS) is intended to provide the navigation information in any environment, indoors and outdoors, and at any time where it is important for determining a pedestrian’s position and orientation. In outdoor environments, the positioning problem is easy to solve using Global Positioning System (GPS) technology. Also, in indoor environments, GPS is useless and other externally-referenced sensing techniques are available such as video movement-sensing, infrared, Ultra-Wide Band (UWB), and Wi-Fi. Inertial sensing techniques are used for pedestrian navigation in association with Dead Reckoning (DR) approach. Earth’s magnetic field sensing can help mitigate the the drift in gyro and specify the absolute orientation. Magnetometers can be used to derive the user heading, by sensing the Earth's Magnetic Field (EMF). Such sensors are thus an interesting sensor suite for PNS. Different Manoeuvring Modes (DMMs) such as making eight movements in 3D space, random, and coordinated movements, are proposed for the calibration process. In this paper an efficient Manoeuvring Mode (MM) for magnetometer calibration is recommended for the pedestrian navigation. We investigated different manoeuvring techniques and errors associated with each mode to achieve best estimation for the calibration parameters in the 3D Space. The results show that the coordinated MM is the most robust mode to perform the calibration process as the unit is rotated around the three axes. The residual error distribution for this mode is zero-mean and acts as a white noise.
Published in:	Proceedings of the 2012 International Technical Meeting of The Institute of Navigation January 30 - 1, 2012 Marriott Newport Beach Hotel & Spa Newport Beach, CA
Pages:	90 - 96
Cite this article:	Ali, A. S., Siddharth, S., El-Sheimy, N., Syed, Z. F., Goodall, C. L., "Investigation of the Different Maneuvering Modes of The Magnetometer Calibration for Pedestrian Navigation," Proceedings of the 2012 International Technical Meeting of The Institute of Navigation, Newport Beach, CA, January 2012, pp. 90-96.
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