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Method and apparatus for fast magnetometer calibration

  • US 10,337,884 B2
  • Filed: 03/05/2014
  • Issued: 07/02/2019
  • Est. Priority Date: 03/05/2013
  • Status: Active Grant
First Claim
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1. A method for fast calibration of a magnetometer from natural motion with little space coverage, the method comprising the steps of:

  • a) obtaining earth magnetic field information in a region where the magnetometer is located, the magnetic field information to be used as reference values;

    b) collecting magnetometer readings; and

    c) providing at least one processor configured to;

    i) obtain an absolute heading from a source of absolute navigational information that is different from the magnetometer, the absolute heading to be used as a second reference; and

    ii) make a determination of sufficient space coverage using at least the absolute heading, wherein the determination of sufficient space coverage comprises at least angular separation values in a heading domain; and

    d) based at least in part on the determination of sufficient space coverage made by the at least one processor, calibrating the magnetometer by calculating calibration parameters when the sufficient space coverage is available, wherein the calculation of calibration parameters comprises calculating error parameters in the magnetometer readings using a relationship between at least the earth magnetic field information, the magnetometer readings, the absolute heading from the source of absolute navigational information that is different from the magnetometer, and the error parameters in the magnetometer readings.

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