The use of a standalone Global Navigation Satellite System (GNSS) has proved to be insufficient when navigating indoors or in urban canyons due to multipath or obstruction. Recent technological advances in low cost micro-electro-mechanical system (MEMS) – based sensors (like accelerometers, gyroscopes and magnetometers) enabled the development of sensor-based navigation systems. Although MEMS sensors are low-cost, lightweight, small size, and have low-power consumption, they have complex error characteristics. Accurate computation of the heading angle (azimuth) is one of the most important aspects of any navigation system. It can be computed either by gyroscopes or magnetometers. Gyroscopes are inertial sensors that can provide the angular rate from which the heading can be calculated, however, their outputs drift with time. Moreover, the accumulated errors due to mathematical integration, performed to obtain the heading angle, lead to large heading errors. On the other hand, magnetometers do not suffer from drift and the calculation of heading does not suffer from error accumulation. They can provide an absolute heading from the magnetic north by sensing the earth’s magnetic field. However, magnetometer readings are usually affected by magnetic fields, other than the earth magnetic field, and by other error sources; therefore magnetometer calibration is required to use magnetometer as a reliable source of heading in navigation applications. In this thesis, a framework for fast magnetometer calibration is proposed. This framework requires little space coverage with no user involvement in the calibration process, and does not need specific movements to be performed. The proposed techniques are capable of performing both 2-dimensional (2D) and 3-dimensional (3D) calibration for magnetometers. They are developed to consider different scenarios suitable for different applications, and can benefit from natural device movements. Some applications involve tethering the magnetometers to the moving platform (like in cars and machinery applications). Other applications are related to portable navigation (smartphone navigation, whether for pedestrians or while driving). The developed framework was examined through experimental work to verify its performance and robustness. / Thesis (Master, Electrical & Computer Engineering) -- Queen's University, 2013-05-01 00:52:30.274

This work addresses the relevant errors of the anisotropic magnetoresistance sensor for inertial navigation systems. The manuscript provides resulting guidelines and solution for using the AMR sensors in a robust and appropriate way relative to the applications. New methods also are proposed to improve the performance and, reduce the power requirements and cost design of the magnetometer. The new compensation method is proposed by developing an optimization algorithm. The necessity of the sensor calibration is shown and the source of the errors and compensating model are investigated. Two novel methods of indoor calibration are proposed and examples of operating systems are presented.

CHAMP (CHAllenging Minisatellite Payload) is a German small satellite mission to study the earth's gravity field, magnetic field and upper atmosphere. Thanks to the good condition of the satellite so far, the planned 5 years mission is extended to year 2009. The satellite provides continuously a large quantity of measurement data for the purpose of Earth study. The measurements of the magnetic field are undertaken by two Fluxgate Magnetometers (vector magnetometer) and one Overhauser Magnetometer (scalar magnetometer) flown on CHAMP. In order to ensure the quality of the data during the whole mission, the calibration of the magnetometers has to be performed routinely in orbit. The scalar magnetometer serves as the magnetic reference and its readings are compared with the readings of the vector magnetometer. The readings of the vector magnetometer are corrected by the parameters that are derived from this comparison, which is called the scalar calibration. In the routine processing, these calibration parameters are updated every 15 days by means of scalar calibration. There are also magnetic effects coming from the satellite which disturb the measurements. Most of them have been characterized during tests before launch. Among them are the remanent magnetization of the spacecraft and fields generated by currents. They are all considered to be constant over the mission life. The 8 years of operation experience allow us to investigate the long-term behaviors of the magnetometers and the satellite systems. According to the investigation, it was found that for example the scale factors of the FGM show obvious long-term changes which can be described by logarithmic functions. The other parameters (offsets and angles between the three components) can be considered constant. If these continuous parameters are applied for the FGM data processing, the disagreement between the OVM and the FGM readings is limited to pm1nT over the whole mission. This demonstrates, the magnetometers on CHAMP exhibit a very good stability. However, the daily correction of the parameter Z component offset of the FGM improves the agreement between the magnetometers markedly. The Z component offset plays a very important role for the data quality. It exhibits a linear relationship with the standard deviation of the disagreement between the OVM and the FGM readings. After Z offset correction, the errors are limited to pm0.5nT (equivalent to a standard deviation of 0.2nT). We improved the corrections of the spacecraft field which are not taken into account in the routine processing. Such disturbance field, e.g. from the power supply system of the satellite, show some systematic errors in the FGM data and are misinterpreted in 9-parameter calibration, which brings false local time related variation of the calibration parameters. These corrections are made by applying a mathematical model to the measured currents. This non-linear model is derived from an inversion technique. If the disturbance field of the satellite body are fully corrected, the standard deviation of scalar error triangle B remains about 0.1nT. Additionally, in order to keep the OVM readings a reliable standard, the imperfect coefficients of the torquer current correction for the OVM are redetermined by solving a minimization problem. The temporal variation of the spacecraft remanent field is investigated. It was found that the average magnetic moment of the magneto-torquers reflects well the moment of the satellite. This allows for a continuous correction of the spacecraft field. The reasons for the possible unknown systemic error are discussed in this thesis. Particularly, both temperature uncertainties and time errors have influence on the FGM data. Based on the results of this thesis the data processing of future magnetic missions can be designed in an improved way. In particular, the upcoming ESA mission Swarm can take advantage of our findings and provide all the auxiliary measurements needed for a proper recovery of the ambient magnetic field. / CHAMP (CHAllenging Minisatellite Payload) ist eine deutsche Kleinsatellitenmission für die Forschung und Anwendung in Bereich der Geowissenschaften und Atmosphärenphysik. Das Projekt wird vom GFZ geleitet. Mit seinen hochgenauen, multifunktionalen, sich ergänzenden Nutzlastelementen (Magnetometer, Akzelerometer, Sternsensor, GPS-Empfänger, Laser-Retroreflektor, Ionendriftmeter) liefert CHAMP erstmalig gleichzeitig hochgenaue Schwere- und Magnetfeldmessungen (seit Mitte 2000). Dank des bisherigen guten Zustandes des Satelliten ist die auf 5 Jahre ausgelegte Mission bis 2009 verlängert geworden. An Board befinden sich ein skalares Overhauser-Magnetometer(OVM) für Kalibrierungszwecke sowie zwei Fluxgate-Magnetometer(FGM) zur Messung des magnetischen Feldvektors. Die Messungen vom FGM werden immer verglichen mit denen vom OVM und korregiert im Fall von Widersprüche, das ist die sog. Skalar-Kalibrierung. Um eine zuverlässige Datenqualität während der 8 jährigen Mission zu garantieren, ist die Nachkalibrierung implementiert. Im Rahmen der standard mäßigen Datenverarbeitung werden die Instrumentenparameter des FGM alle 15 Tage neu bestimmt. Das Ziel der vorliegenden Arbeit ist es, eine Verbesserung der Vektormagnetfelddaten zu erzielen durch eine neue Methode der Kalibrierung, die die Eigenschaften der Sensoren und Störung vom Raumfahrzeug mit berücksichtigt. Die Erfahrung aus den zurückliegenden Jahren hat gezeigt, dass sich die Skalenfaktoren des FGM stark mit der Zeit ändern. Dieser Verlauf lässt sich gut durch eine Logarithmuskurve anpassen. Andere Parameter wie die Winkel und die Offsets scheinen stabil zu sein. Eine Ausnahme macht der Offset der Z-Komponent. Dieser bedarf einer regelmäßigen Korrektur. Während die Standardverarbeitung eine undifferenzierte Bestimmung aller 9 FGM Parameter durch nicht-lineare Inversion der skalar Daten vornimmt, beziehen wir jetzt die langzeitlichen Eigenschaften der Parameter in die Bestimmung mit ein. Eine weitere Verbesserung der CHAMP-Magnetfelddaten konnte erreicht werden durch geeignete Berücksichtigung von Störung vom Raumfahrzeug. Die verbleibenden Unsicherheiten konnten durch diese Maßnahmen auf eine Standardabweichung von 0.1nT reduziert werden.

The most common equipment used for attitude determination in small satellites are magnetometers. However, using magnetometers gives rise to many challenges. One of these challenges is the calibration of the magnetometer. Magnetometer calibration takes many factors into account. There are external and internal factors. External factors can be the satellite itself. Satellites are built of many complex subsystems. These subsystems can produce magnetic disturbances and affect the measurements taken by the magnetometer ,which also affects the attitude determination of the satellite. Internal factors are nonorthogonalityand scale factors. In this project, we aim to test different calibration methods and compare the results. Another objective is to provide a complete procedure for a calibration of the magnetometer using the Helmholtz coils. The comparison of the results with other methods can help with the decision of which should be used to calibrate the magnetometer onboard the satellite for future calibrations for MIST satellites. / En av de mest vanliga verktyg för attitydbestämning i små satteliter är magnetometer, men att använda magnetometer kan leda till många utmaningar, en av de kalibrering av magnetometern. Magnetometer kalibrering är beroende av många faktorer. Det finns inre och yttre faktorer. Yttre faktorer kan vara själva satelliten. Del system som bildar satelliten kan påverka mätningar i magnetometern och då påverkar attitydbestämning av hela satelliten. Inre faktorer är icke ortogonalitet och skalära faktorer. I det här projektet vi ska testa olika kalibrerings metoder och jämföra resultaten. Ett annat mål är att bygga en komplett procedur för att kalibrera magnetometer med hjälp av Helmholtz spolar. Jämförelsen och resultaten från kalibreringen visar hur det är möjligt att kalibrnetometer som är integrerad i satelliten för kommande kalibreringar i MIST. / Kandidatexjobb i elektroteknik 2022, KTH, Stockholm

This master's thesis focuses on the utilization of an artificially created weak magnetic field for navigation in 3D space. The theoretical part of this work deals with the general properties of the magnetic field and with its description. The next section of the theoretical part contains an overview of measuring principles for magnetic field measurements. Based on various types of measuring principles, the thesis elaborates on commercially available miniature sensors for magnetic field measurement with a measuring range up to 10 mT. The work focuses mainly on the magnetoresistive principle and fluxgate sensors. Furthermore, the theoretical part contains descriptions of methods for modeling the magnetic field of simple permanent magnets and various magnet assemblies. Lastly, the theoretical part involves a patent search of devices used for locating magnets that are installed in an intramedullary nail, which is used in intramedullary stabilization used on fractures of human bones. By locating the magnet in the nail, it is possible to precisely determine the position of the mounting holes. The practical part of the thesis deals with the analysis of magnetic field behavior in the vicinity of various magnetic assemblies, which were modeled in COMSOL Multiphysics using the finite element method. The models were created with the aim of analysing the behaviour of the magnetic field in the vicinity of the magnets and at the same time to find possible analytical functions that could be used to determine the position of the magnet in space relative to the probe. The result of this work is an analysis of various assemblies, which contains graphs of different dependencies and prescription of polynomial functions that approximate these dependencies. Another part of the thesis is the design of a probe that serves to locate the magnetic target. The work describes two possible methods of localization. For the differential method, a user interface in LabVIEW was created. The probe based on this method is fully capable of locating the magnet in the 2D plane. The state space search method is described only in theory.