A Single-Step Method for Accelerometer and Magnetometer Axes Alignment

In this work, we introduce a single-step method for axes alignment of a three-axis accelerometer and a three-axis magnetometer. The proposed method is based on the magnetic inclination to derive the inclination angle and the axes alignment rotation matrix, both in closed form. It is applied when the two sensors are fixed on the same rigid platform and requires no special piece of equipment. In contrast to the existing algorithms, it does not rely on an iterative optimization or estimation method; instead, it is executed in a single step. It is two orders of magnitude faster than the existing iterative algorithms based on the same principle. Multiple measurement sets are used to demonstrate the algorithm's computational efficiency, while its accuracy is evaluated through a series of simulated measurements.

Automated summary

The proposed method in this work introduces a single-step approach for alignment of a three-axis accelerometer and a three-axis magnetometer based on magnetic inclination. It is executed when the sensors are fixed on the same platform and does not require specialized equipment. The method is significantly faster than existing iterative algorithms and its accuracy is demonstrated through simulated measurements.