SYSTEM AND METHOD FOR MAGNETOMETER CALIBRATION AND COMPENSATION

摘要

A system comprises an inertial measurement unit comprising one or more gyroscopes configured to measure angular velocity about a respective one of three independent axes and one or more accelerometers configured to measure specific force along a respective one of the three independent axes; a magnetometer configured to measure strength of a local magnetic field along each of the three independent axes; and a processing device coupled to the inertial measurement unit and the magnetometer; the processing device configured to compute kinematic state data for the system based on measurements received from the magnetometer and the inertial measurement unit. The processing device is further configured to calculate magnetometer measurement calibration parameters using a first technique when position data is unavailable and to calculate magnetometer measurement calibration parameters using a second technique when position data is available.