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Joint Calibration of Inertial Sensors and Magnetometers using von Mises-Fisher Filtering and Expectation Maximization

Hostettler, Roland ; Garcia-Fernandez, Angel F ; Tronarp, Filip LU and Särkkä, Simo (2019) 22th International Conference on Information Fusion (FUSION)
Abstract
Microelectromechanical-systems-based inertial sensors and magnetometers are low-cost, off-the-shelf sensors that are widely used in both consumer and industrial applications. However, these sensors suffer from biases and effects such as axis misalignment or scale errors, which require careful system design and periodic sensor calibration. In this paper, we propose a fast calibration method for jointly calibrating inertial sensors and magnetometers based on discrete-time von Mises-Fisher filtering and expectation maximization. We evaluate the method on built-in smartphone sensors and show that the proposed method efficiently estimates the sensors' parameters and reduces the overall error.
Please use this url to cite or link to this publication:
author
; ; and
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2019 22th International Conference on Information Fusion (FUSION)
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
22th International Conference on Information Fusion (FUSION)
conference location
Ottawa, Canada
conference dates
2019-07-02 - 2019-07-05
DOI
10.23919/FUSION43075.2019.9011257
language
English
LU publication?
no
id
e3930de7-8e53-4852-91cf-ddd1afa24254
date added to LUP
2023-08-21 02:14:58
date last changed
2023-11-10 13:51:12
@inproceedings{e3930de7-8e53-4852-91cf-ddd1afa24254,
  abstract     = {{Microelectromechanical-systems-based inertial sensors and magnetometers are low-cost, off-the-shelf sensors that are widely used in both consumer and industrial applications. However, these sensors suffer from biases and effects such as axis misalignment or scale errors, which require careful system design and periodic sensor calibration. In this paper, we propose a fast calibration method for jointly calibrating inertial sensors and magnetometers based on discrete-time von Mises-Fisher filtering and expectation maximization. We evaluate the method on built-in smartphone sensors and show that the proposed method efficiently estimates the sensors' parameters and reduces the overall error.}},
  author       = {{Hostettler, Roland and Garcia-Fernandez, Angel F and Tronarp, Filip and Särkkä, Simo}},
  booktitle    = {{2019 22th International Conference on Information Fusion (FUSION)}},
  language     = {{eng}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Joint Calibration of Inertial Sensors and Magnetometers using von Mises-Fisher Filtering and Expectation Maximization}},
  url          = {{http://dx.doi.org/10.23919/FUSION43075.2019.9011257}},
  doi          = {{10.23919/FUSION43075.2019.9011257}},
  year         = {{2019}},
}