{"id":"https://openalex.org/W2999277507","doi":"https://doi.org/10.1109/lra.2020.2967308","title":"A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation","display_name":"A Stable Adaptive Observer for Hard-Iron and Soft-Iron Bias Calibration and Compensation for Two-Axis Magnetometers: Theory and Experimental Evaluation","publication_year":2020,"publication_date":"2020-01-17","ids":{"openalex":"https://openalex.org/W2999277507","doi":"https://doi.org/10.1109/lra.2020.2967308","mag":"2999277507"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2967308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967308","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/A5032495286","display_name":"Andrew R. Spielvogel","orcid":"https://orcid.org/0000-0001-6214-9992"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andrew R. Spielvogel","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022475465","display_name":"Louis L. Whitcomb","orcid":"https://orcid.org/0000-0003-2398-1000"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Louis L. Whitcomb","raw_affiliation_strings":["Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5032495286"],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":0.6903,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76999675,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"5","issue":"2","first_page":"1295","last_page":"1302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9998999834060669,"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":0.9998999834060669,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10655","display_name":"GNSS positioning and interference","score":0.9686999917030334,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/magnetometer","display_name":"Magnetometer","score":0.8706908226013184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7069255709648132},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6595124006271362},{"id":"https://openalex.org/keywords/euclidean-vector","display_name":"Euclidean vector","score":0.4824031591415405},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.45450928807258606},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.44997745752334595},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.43098676204681396},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.41112080216407776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3911033868789673},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3793739080429077},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34082043170928955},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.161106139421463},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1586824357509613},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1070760190486908}],"concepts":[{"id":"https://openalex.org/C153946474","wikidata":"https://www.wikidata.org/wiki/Q333921","display_name":"Magnetometer","level":3,"score":0.8706908226013184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7069255709648132},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6595124006271362},{"id":"https://openalex.org/C118965365","wikidata":"https://www.wikidata.org/wiki/Q44528","display_name":"Euclidean vector","level":2,"score":0.4824031591415405},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.45450928807258606},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.44997745752334595},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.43098676204681396},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.41112080216407776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3911033868789673},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3793739080429077},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34082043170928955},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.161106139421463},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1586824357509613},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1070760190486908},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2020.2967308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2967308","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3384778591","display_name":null,"funder_award_id":"IIS-1909182","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8584470968","display_name":null,"funder_award_id":"OCE-1435818","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W130083205","https://openalex.org/W1479841647","https://openalex.org/W1572161815","https://openalex.org/W1971572145","https://openalex.org/W1980767660","https://openalex.org/W1983879820","https://openalex.org/W2047993072","https://openalex.org/W2050099430","https://openalex.org/W2116394929","https://openalex.org/W2132150680","https://openalex.org/W2138121908","https://openalex.org/W2139019018","https://openalex.org/W2140257642","https://openalex.org/W2161962330","https://openalex.org/W2163623431","https://openalex.org/W2290171771","https://openalex.org/W2466246315","https://openalex.org/W2469842093","https://openalex.org/W2523099684","https://openalex.org/W2546871738","https://openalex.org/W2766173473","https://openalex.org/W2910773059","https://openalex.org/W2951359965","https://openalex.org/W2952094691","https://openalex.org/W2963559528","https://openalex.org/W3140595693","https://openalex.org/W3202414037","https://openalex.org/W4285719527","https://openalex.org/W6680401350","https://openalex.org/W6683405241","https://openalex.org/W6726985636"],"related_works":["https://openalex.org/W4244052565","https://openalex.org/W2358719579","https://openalex.org/W4252778923","https://openalex.org/W2385042721","https://openalex.org/W2367929022","https://openalex.org/W2351754530","https://openalex.org/W2378649906","https://openalex.org/W2391014597","https://openalex.org/W2350113401","https://openalex.org/W2613098196"],"abstract_inverted_index":{"This":[0],"letter":[1],"addresses":[2],"the":[3,11,36,39,45,53,67,74,84,130,136,152,164,173,184],"problem":[4],"of":[5,10,16,135,151],"on-line":[6],"estimation":[7,204],"and":[8,13,44,83,124,193],"compensation":[9,196],"hard-iron":[12,192],"soft-iron":[14,194],"biases":[15,55,85,96],"a":[17,28,101,121,125,148],"2-axis":[18,29],"magnetometer":[19,46,68,186,191],"under":[20],"dynamic":[21,202],"motion,":[22],"utilizing":[23],"only":[24],"biased":[25],"measurements":[26,47,69],"from":[27],"magnetometer.":[30],"The":[31,58,94,115],"proposed":[32,131],"adaptive":[33,116],"observer":[34,59,117],"formulates":[35],"relation":[37],"between":[38],"true":[40,92],"magnetic":[41,103,112,154],"field":[42,104,155],"vector":[43,106,156,159],"as":[48],"an":[49],"algebraic":[50],"system":[51,75,165,175],"where":[52],"unknown":[54],"enter":[56],"linearly.":[57],"is":[60,76,108,118,139,161,166,176,188,197],"shown":[61,77,87,167,177,198],"to":[62,78,88,90,99,110,168,178,199],"be":[63,79,169,179],"globally":[64,80,170,180],"stable.":[65],"When":[66],"are":[70,86,97],"persistently":[71],"exciting":[72],"(PE),":[73],"asymptotically":[81,181],"stable,":[82,171],"converge":[89],"their":[91],"values.":[93],"estimated":[95],"used":[98],"provide":[100],"calibrated":[102],"direction":[105,160],"which":[107],"utilized":[109],"estimate":[111],"geodetic":[113],"heading.":[114],"evaluated":[119],"in":[120],"numerical":[122],"simulation":[123],"full-scale":[126],"vehicle":[127],"trial.":[128],"For":[129],"observer:":[132],"(i)":[133],"knowledge":[134,150],"instrument":[137],"attitude":[138],"not":[140],"required":[141],"for":[142],"sensor":[143],"bias":[144,195],"estimation,":[145],"(ii)":[146],"zero":[147],"priori":[149],"local":[153],"magnitude":[157],"or":[158],"needed,":[162],"(iii)":[163],"(iv)":[172],"error":[174],"stable":[182],"when":[183],"measured":[185],"signal":[187],"PE.":[189],"(v)":[190],"dramatically":[200],"improve":[201],"heading":[203],"accuracy.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
