scholarly journals Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation

2020 ◽  
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Tamay Aykut ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Field Measurement ◽  
Magnetic Measurement ◽  
Magnetic Sensors ◽  
Magnetic Field Measurement ◽  
Earth’S Magnetic Field ◽  
Fusion Technique ◽  
Earth's Magnetic Field ◽  
Heading Estimation

Robust attitude and heading estimation with respect to a known reference is an essential component for indoor localization in robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using 9-axis solid-state MEMS-based sensors. The accuracy of heading estimation on such a system depends on the Earth's magnetic field measurement accuracy. The measurement of the Earth's magnetic field using MEMS-based magnetometer sensors in an indoor environment, however, is strongly affected by external magnetic perturbations. This paper presents a novel approach for robust indoor heading estimation based on skewed-redundant magnetometer fusion. A tetrahedron platform based on Hall-effect magnetic sensors is designed to determine the Earth's magnetic field with the ability to compensate for external magnetic field anomalies. Additionally, a correlation-based fusion technique is introduced for perturbation mitigation using the proposed skewed-redundant configuration. The proposed fusion technique uses a correlation coefficient analysis for determining the distorted axis and extracts the perturbation-free Earth's magnetic field vector from the redundant magnetic measurement. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the magnetic field measurement and estimates the Earth's true magnetic field. Using the proposed platform, we achieve a Root Mean Square Error of 12.74$\degree$ for indoor heading estimation without using an additional gyroscope.

scholarly journals Skewed-redundant Hall-effect Magnetic Sensor Fusion for Perturbation-free Indoor Heading Estimation

2020 ◽  
Author(s):  
Mojtaba Karimi ◽  
Edwin Babaians ◽  
Martin Oelsch ◽  
Tamay Aykut ◽  
Eckehard Steinbach
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Field Measurement ◽  
Magnetic Measurement ◽  
Magnetic Sensors ◽  
Magnetic Field Measurement ◽  
Earth’S Magnetic Field ◽  
Fusion Technique ◽  
Earth's Magnetic Field ◽  
Heading Estimation

Robust attitude and heading estimation with respect to a known reference is an essential component for indoor localization in robotic applications. Affordable Attitude and Heading Reference Systems (AHRS) are typically using 9-axis solid-state MEMS-based sensors. The accuracy of heading estimation on such a system depends on the Earth's magnetic field measurement accuracy. The measurement of the Earth's magnetic field using MEMS-based magnetometer sensors in an indoor environment, however, is strongly affected by external magnetic perturbations. This paper presents a novel approach for robust indoor heading estimation based on skewed-redundant magnetometer fusion. A tetrahedron platform based on Hall-effect magnetic sensors is designed to determine the Earth's magnetic field with the ability to compensate for external magnetic field anomalies. Additionally, a correlation-based fusion technique is introduced for perturbation mitigation using the proposed skewed-redundant configuration. The proposed fusion technique uses a correlation coefficient analysis for determining the distorted axis and extracts the perturbation-free Earth's magnetic field vector from the redundant magnetic measurement. Our experimental results show that the proposed scheme is able to successfully mitigate the anomalies in the magnetic field measurement and estimates the Earth's true magnetic field. Using the proposed platform, we achieve a Root Mean Square Error of 12.74$\degree$ for indoor heading estimation without using an additional gyroscope.

Influences of the Earth’s Magnetic Field on the Transient Electromagnetic Process in the Geoelectric Field: an Experimental Study

2021 ◽  
Vol 62 (12) ◽  
pp. 1430-1439
Author(s):  
V.S. Mogilatov ◽  
V.V. Potapov ◽  
A.N. Shein ◽  
V.A. Gur’ev
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Field Experiments ◽  
Geoelectric Field ◽  
Earth’S Magnetic Field ◽  
Electromagnetic Process ◽  
Transient Electromagnetic ◽  
Schematic Layout ◽  
Earth's Magnetic Field ◽  
Tem Method

Abstract —A mathematical model of the influence of the Earth’s magnetic field (the Hall effect) on results of the controlled source transient electromagnetic (TEM) method has been elaborated. For identification of this effect, we propose a schematic layout of the experimental grounded system with a pulsed loop source and signals recording by radial receive lines equally spaced relative to the loop. The 2018–2019 special field experiments were conducted in the Tatar region of the West Siberian Lowland with an aim to estimate the Hall effect contributions to the TEM method. To detect the Hall effect, transient electromagnetic responses were measured mainly by four receive lines radiating from a 500×500 m square loop. Analysis of the TEM results processing aimed at improving the signal quality and reducing the interference revealed a great similarity in signals from the radial lines, which is theoretically possible only under the Hall effect. Comparison of the field signals with the theoretical ones enabled estimation of the components caused by the Hall effect, in particular, conductivity at ~0.002 S/m.

Two-step calibration method for three-axis magnetic sensor error based on particle swarm optimization

Sensor Review ◽  
2020 ◽  
Vol 40 (5) ◽  
pp. 577-583
Author(s):  
Yanxia Liu ◽  
Zhikai Hu ◽  
JianJun Fang
Keyword(s):  
Magnetic Field ◽  
Fitness Function ◽  
Particle Swarm ◽  
Calibration Method ◽  
Magnetic Sensors ◽  
Earth’S Magnetic Field ◽  
Swarm Optimization ◽  
Error Matrix ◽  
Content Type ◽  
Earth's Magnetic Field

Purpose The three-axis magnetic sensors are mostly calibrated by scalar method such as ellipsoid fitting and so on, but these methods cannot completely determine the 12 parameters of the error model. A two-stage calibration method based on particle swarm optimization (TSC-PSO) is proposed, which makes full use of the amplitude invariance and direction invariance of Earth’s magnetic field vector. Design/methodology/approach The TSC-PSO designs two-stage fitness function. Stage 1: design a fitness function of the particle swarm by the amplitude invariance of the Earth’s magnetic field to obtain a preliminary error matrix G and the bias error B. Stage 2: further design the fitness function of the particle swarm by the invariance of the Earth’s magnetic field to obtain a rotation matrix R, thereby determining the error matrix uniquely. Findings The proposed TSC-PSO can completely determine 12 unknown parameters in error model and further decrease the maximum fluctuation error of the Earth’s magnetic field amplitude and the absolute error of heading. Practical implications The proposed TSC-PSO provides an effective solution for three-axis magnetic sensor error compensation, which can greatly reduce the price of magnetic sensors and be used in the fields of Earth’s magnetic survey, drilling and Earth’s magnetic integrated navigation. Originality/value The proposed TSC-PSO has significantly improved the magnetic field amplitude and heading accuracy and does not require additional heading reference. In addition, the method is insensitive to noise and initialization conditions, has good robustness and can converge to a global optimum.

scholarly journals A theory of the Earth's magnetic field and of sunspots, based on a self-excited dynamo incorporating the Hall effect

2001 ◽  
Vol 8 (4/5) ◽  
pp. 265-279 ◽  
Author(s):  
A. de Paor
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Energy Coupling ◽  
Order System ◽  
Sunspot Activity ◽  
Earth’S Magnetic Field ◽  
Dynamo Theory ◽  
Field Reversal ◽  
Geophysical Processes ◽  
Earth's Magnetic Field

Abstract. A new viewpoint on the generation and maintenance of the Earth's magnetic field is put forward, which integrates self-exciting dynamo theory with the possibility of energy coupling along orthogonal axes provided by the Hall effect. A nonlinear third-order system is derived, with a fourth equation serving as an observer of unspecified geophysical processes which could result in field reversal. Lyapunov analysis proves that chaos is not intrinsic to this system. Relative constancy of one of the variables produces pseudo equilibrium in a second order subsystem and allows for self-excitation of the geomagnetic field. Electromagnetic analysis yields expressions for key parameters. Models for secular variations recorded at London, Palermo and at the Cape of Good Hope over the past four hundred years are offered. Offset of the Earth's magnetic axis from the geographic axis is central to time-varying declination, but its causes have not yet been established. Applicability of the model to the explanation of sunspot activity is outlined. A corroborating experiment published by Peter Barlow in 1831 is appended.

scholarly journals Clarification of the Hall effect as an energy transfer mechanism in a theory of the Earth’s magnetic field and sunspots

2003 ◽  
Vol 10 (4/5) ◽  
pp. 435-436 ◽  
Author(s):  
A. de Paor
Keyword(s):  
Magnetic Field ◽  
Energy Transfer ◽  
Hall Effect ◽  
Transfer Mechanism ◽  
Energy Transfer Mechanism ◽  
Nonlinear Processes ◽  
Earth’S Magnetic Field ◽  
Earth's Magnetic Field

Abstract. Clarification is offered of the energy transfer role played by the Hall effect in a recent paper: de Paor, A., A theory of the Earth's magnetic field and of sunspots, based on a self-excited dynamo incorporating the Hall effect, Nonlinear Processes in Geophysics, 8, 265-279, 2001.

scholarly journals On the Earth’s magnetic field and the Hall effect

2003 ◽  
Vol 10 (4/5) ◽  
pp. 437-440 ◽  
Author(s):  
J. E. Allen
Keyword(s):  
Magnetic Field ◽  
Energy Transfer ◽  
Hall Effect ◽  
Transfer Mechanism ◽  
Energy Transfer Mechanism ◽  
Earth’S Magnetic Field ◽  
Earth's Magnetic Field

Abstract. In a recent paper de Paor put forward a new theory of the Earth's magnetic field that depended on the Hall effect as an energy transfer mechanism. The purpose of this paper is to demonstrate that the mechanism invoked is unimportant except in certain gaseous plasmas.

scholarly journals Hall Effect Sensor for Animal Geomagnetic Navigation

2021 ◽  
Vol 4 (2) ◽  
Author(s):  
Sachs F
Keyword(s):  
Magnetic Field ◽  
Hall Effect ◽  
Magnetic Compass ◽  
Earth’S Magnetic Field ◽  
Human Navigation ◽  
Hall Effect Sensor ◽  
Navigation Tool ◽  
Earth's Magnetic Field

The magnetic compass has been a valuable human navigation tool for hundreds of years. Yet animals are known to align themselves with the earth’s magnetic field without using ferrimagnets.

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