Digital Compass Calibration Using Particle Swarm Optimization and Least Squares Method

Yıl 2021, Cilt: 2 Sayı: 1, 37 - 50, 01.06.2021

Türkay Pektürk Sıtkı Kocaoğlu

Öz

Recently, electronic compass sensors have become very common, due to their small size and low price. Sensor output information turns out to be incorrect if the magnetometers and accelerometers in the structure of these sensors are not calibrated. The main reason for such an error could be the slope value that is generated because of not placing the sensor parallel to the ground. Moreover, zero value inequalities between the axes of multi-axis sensors, offset errors, and scaling errors cause drift in the compass sensor output. In order to fix the problems, the study uses the methods of Particle Swarm Optimization Algorithm and Least Squares for the calibration of magnetometer and accelerometer. The results indicate that the calibration process can be successfully performed using these methods.

Anahtar Kelimeler

Compass, Calibration, Particle Swarm Optimization, Least Squares, IMU

Parçacık Sürü Optimizasyonu ve En Küçük Kareler Yöntemi Kullanılarak Dijital Pusula Kalibrasyonu

Öz

Elektronik pusula sensörleri, küçük boyutları ve düşük fiyatları sayesinde son yıllarda oldukça yaygın hale gelmiştir. Bu sensörlerin yapısında bulunan manyetometreler ve ivmeölçerlerin kalibre edilmediği durumlarda sensör çıkış bilgisi hatalı olmaktadır. Bunun temel sebebi sensörün kullanım alanında zemin yüzeyine paralel tutulamaması ve bir eğim değerine sahip olmasıdır. Ayrıca çok eksenli sensörlerin eksenleri arasındaki sıfır değer eşitsizlikleri, ofset hataları ve ölçekleme hataları da pusula sensör çıkışında kaymaya neden olur. Bu çalışmada, bahsedilen problemlerin giderilmesi için, manyetometre ve ivmeölçer kalibrasyonu Parçacık Sürüsü Optimizasyon Algoritması ve En Küçük Kareler Yöntemi kullanılarak yapılmıştır. Çalışmada önerilen yöntemle elde edilen sonuçlar, kalibrasyon işleminin bu yöntem kullanılarak başarıyla yapılabileceğini göstermiştir.

Anahtar Kelimeler

Pusula, Kalibrasyon, Parçacık Sürü Optimizasyonu, En Küçük Kareler, IMU

Kaynakça

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