{"id":"https://openalex.org/W2784131351","doi":"https://doi.org/10.1109/lra.2018.2792149","title":"Real-Time Calibration of Gyro-Magnetometer Misalignment","display_name":"Real-Time Calibration of Gyro-Magnetometer Misalignment","publication_year":2018,"publication_date":"2018-01-11","ids":{"openalex":"https://openalex.org/W2784131351","doi":"https://doi.org/10.1109/lra.2018.2792149","mag":"2784131351"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2792149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792149","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-8636-4168","affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064707349","display_name":"Jianyu Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianyu Song","raw_affiliation_strings":["Flight Control Group, DJI, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Flight Control Group, DJI, Shenzhen, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100460011"],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":6.3177,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.96496281,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":"2","first_page":"849","last_page":"856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/notation","display_name":"Notation","score":0.6784746646881104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47237256169319153},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.44535520672798157},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39793750643730164},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.37213724851608276},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.2627905011177063},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.13559070229530334},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1094495952129364}],"concepts":[{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.6784746646881104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47237256169319153},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.44535520672798157},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39793750643730164},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.37213724851608276},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.2627905011177063},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.13559070229530334},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1094495952129364}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2018.2792149","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2792149","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.ust.hk:1783.1-89758","is_oa":false,"landing_page_url":"http://gateway.isiknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=LinksAMR&SrcApp=PARTNER_APP&DestLinkType=FullRecord&DestApp=WOS&KeyUT=000424646100001","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W605763459","https://openalex.org/W1495976112","https://openalex.org/W1564768010","https://openalex.org/W1564897360","https://openalex.org/W1572164208","https://openalex.org/W1992989752","https://openalex.org/W1998058414","https://openalex.org/W2000754062","https://openalex.org/W2021503353","https://openalex.org/W2027486870","https://openalex.org/W2035650806","https://openalex.org/W2087125032","https://openalex.org/W2107105904","https://openalex.org/W2140812278","https://openalex.org/W2418849765","https://openalex.org/W2738304489","https://openalex.org/W2744104451","https://openalex.org/W4229706427","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W4245490552","https://openalex.org/W4225152035","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W1587224694","https://openalex.org/W2911598644","https://openalex.org/W2142036596"],"abstract_inverted_index":{"This":[0,21],"letter":[1,22],"considers":[2],"a":[3,13,18,72,129],"common":[4],"calibration":[5,26,137],"problem":[6,27],"in":[7,117,140],"robotics:":[8],"determining":[9],"the":[10,25,47,69,87,110,118,149,171,176,190],"orientation":[11],"of":[12,102,120,189],"three-axis":[14,19],"gyro":[15],"relative":[16],"to":[17,45,59,78,133,168],"magnetometer.":[20],"first":[23,56],"forms":[24],"as":[28,71],"<inline-formula":[29,50,62,79,90,103,121],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[30,51,63,80,91,104,122],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[31,105],"<tex-math":[32,106],"notation=\"LaTeX\">$R_i":[33],"X":[34,38],"m_i":[35],"=":[36,125],"R_j":[37],"m_j$</tex-math></inline-formula>":[39],"and":[40,84,127,143,146,157,186],"then":[41],"presents":[42],"two":[43,177],"methods":[44],"solve":[46,60],"equation":[48,70,75,111,116],"on":[49,152,159],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[52,64,81,92,123],"notation=\"LaTeX\">$SO(3)$</tex-math></inline-formula>":[53,107],".":[54,95],"The":[55,96,135],"method":[57],"is":[58],"for":[61,148],"notation=\"LaTeX\">$X$</tex-math></inline-formula>":[65],"directly":[66],"by":[67],"regarding":[68],"homogeneous":[73],"linear":[74,115],"with":[76,175],"respect":[77],"notation=\"LaTeX\">$X$</tex-math>":[82],"</inline-formula>":[83],"subsequently":[85],"enforce":[86],"solution":[88],"onto":[89],"notation=\"LaTeX\">$SO(3)$":[93],"</tex-math></inline-formula>":[94],"second":[97],"approach,":[98],"utilizing":[99],"geometrical":[100],"properties":[101],",":[108],"transforms":[109],"into":[112],"an":[113],"equivalent":[114],"form":[119],"notation=\"LaTeX\">$Ax":[124],"b$</tex-math></inline-formula>":[126],"invokes":[128],"recursive":[130],"least-squares":[131],"algorithm":[132],"solve.":[134],"proposed":[136,172],"algorithms":[138],"succeed":[139],"their":[141],"computational":[142],"memory":[144],"efficiency":[145],"suitability":[147],"real-time":[150],"implementation":[151],"embedded":[153],"systems.":[154],"Both":[155],"simulation":[156],"experiments":[158],"large-scale":[160],"bulky":[161],"unmanned":[162],"aerial":[163],"vehicles":[164],"(UAVs)":[165],"are":[166],"provided":[167],"show":[169],"that":[170],"formulation":[173],"along":[174],"solvers":[178],"can":[179],"successfully":[180],"calibrate":[181],"large":[182],"misalignments":[183],"under":[184],"small":[185],"casual":[187],"movements":[188],"UAV.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}