Novel Magnetometer-Accelerometer Fusion in Body and Navigation Frames for Improved Orientation Estimation

Ammar Assad

Abstract


Measuring orientation parameters of a moving object is an urgent task in various fields of aircraft engineering. Orientation parameters serve as the main variables in the process of autonomous motion control of a moving object. The generalized Kalman filter is the main tool used for estimating orientation parameters by integrating measurements from sensors such as accelerometers, gyroscopes, and magnetometers. In this paper, an approach using two coordinate systems for magnetic and gravitational fields is implemented to improve orientation estimation in the Kalman filter. Experimental results show that the proposed method improves the estimation of orientation angles: the mean error is reduced by 93.33% for pitch, 91.8% for roll, and 31.06% for yaw compared to using the Kalman filter alone. The method maintains low computational complexity and can be recommended for autonomous aircraft control systems. The proposed novel method combines information about magnetic and gravitational fields to improve the accuracy of orientation parameter estimation. The combination is based on the fact that measurements of the magnetic field and acceleration of a moving object in one coordinate system are transferred to another system, after which the difference between them is calculated and minimized.


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References


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