Automated magnetic field reconstruction stand for mobile robot navigation algorithms debugging which use magnetometer data
S. Goll, A. Borisov
Abstract:
An important addition to the inertial navigation system are magnetometers. Areas with magnetic field anomalies serve to determine the reference points. But the magnetometers are influenced from both the electrical equipment of the robot itself and robot’s parts configuration. Compensation of the robot’s self-influence on the readings of the magnetometers is carried out by computer tools. In order to obtain the initial data, live experiments are required in a natural enviroment. For simplifying data acquisition about the behavior of magnetometric systems of a mobile robot an facility is used, which allow to compensate the Earth’s magnetic field in a working space and to create an artificial magnetic field that varies according to a predetermined algorithm and simulates a magnetic field in the intended environment of application of the robot. The facility features: a working space, sufficient to place the mobile robot; a coil temperature drift correction; uniformity of the frequency response in operating frequency range; compensation of power supply interference and similar disturbances; sensitivity equalization of control channels; compensation of misalignment coordinate systems of the sensor and coil system. An nteractive Simulink model designed and evaluated. The automated stand created as experimental facility, its parameters proove proposed model adequacy.
