I am new to IMU but I haven't found an answer to something I don't understand yet.
My question is assuming a clean local magnetic environment (no magnetic noise fields) why can't the earth's magnetic field vector as measured by a 3-axis magnetometer be used as the only reference vector for gyro correction?
Regards,
John
Replies
I'm curious to see what the gurus say. I've been focused on 2d for awhile so haven't really thought about the 3d problem in over a year so will have to light up those neurons again :) Off the cuff... a single vector in earth frame wouldn't really tell you anything about which was is up, so to speak. The gravity vector gives you the down reference. Perhaps with enough samples of changing orientation you could still deal with gyro drift using only a single reference vector. Again, have to think about it.