A Parameterized Geometric Magnetic Field Calibration Method for Vehicles with Moving Masses with Applications to Underwater Gliders

• Published in: Journal of Field Robotics
• Main Authors: Claus, Brian, Bachmayer, Ralf
• Other Authors: Natural Sciences and Engineering Research Council of Canada
• Format: Article in Journal/Newspaper
• Language: English
• Published: Wiley 2016
• Subjects: East Arm; Newfoundland; Labrador Sea
• Online Access: http://dx.doi.org/10.1002/rob.21660; https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.21660; https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.21660

The accuracy of magnetic measurements performed by autonomous vehicles is often limited by the presence of moving ferrous masses. This work presents a parameterized ellipsoid field calibration method for magnetic measurements in the sensor frame. In this manner, the ellipsoidal calibration coefficie...