Project

Magnetometer Calibration Tool

Short description

Develop a proof of concept of calibration soft & hard iron and measurement algorithm for the ST LSM9DS1 Data Fusion 9DOF sensor to reduce external magnetic interference affecting the accuracy of heading (yaw), pitch, and roll measurements. The sensor will be used on PCBs mounted inside sonar housings close to switching power supplies, ferrites, and metal objects. The target accuracy for the heading is < 1 degree.

Assigned task

Develop a proof of concept of calibration and measurement algorithm for the ST LSM9DS1 sensor to reduce external magnetic interference affecting the accuracy of heading (yaw), pitch, and roll measurements. The sensor will be used on PCBs mounted inside sonar housings close to switching power supplies, ferrites, and metal objects. The target accuracy for the heading is < 1 degree. Multiple distributed sensors can be used if it can improve accuracy. The proof of concept should be developed using off-the-shelf development boards. An STM32 microcontroller control the LSM9DS1 and output the heading, pitch, and roll measurements to a serial port. The measured data is in degrees.

Methods for problem solving

Developed an electronic IMU with advanced magnetometer calibration with software and hardware. It was implemented in two ways, mathematics and an application that calibrates the magnetic sensor in 12 positions and using the Motion FX library for data fusion.

Technologies used
  • STM32
  • IMU
  • Data Fusion
  • Matrix calculation
  • C/C++, C#
  • Motion FX
  • Advanced Magnetometer calibration

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