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Dergiler / Gazi University Journal of Science Part A: Engineering and Innovation / 2026 / Volume: 13 Issue: 3

Proactive Magnetic Anomaly Suppression Algorithm for Robust Madgwick-Based Heading Estimation

Osman Ünal(SAKARYA UNIVERSITY OF APPLIED SCIENCES)0000-0003-1101-6561
Sayfa
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Yayın Tarihi
2026-09-30
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⚡ TL;DR(1 Cümlede Hızlı Çıkarım)

These findings indicate that the integration of an adaptive anomaly mitigation strategy yields improved accuracy in heading estimation, thereby facilitating consistent orientation tracking in environments prone to magnetic interference.

📌 3 Maddede Bu Makale

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Amaç & Hipotez:Accurate heading estimation is critical for autonomous navigation.
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Temel Bulgular & Veri:This study proposes an enhanced heading estimation framework that integrates a real-time magnetic anomaly detection mechanism into the conventional Madgwick filter architecture.
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Sonuç & Katkı:These findings indicate that the integration of an adaptive anomaly mitigation strategy yields improved accuracy in heading estimation, thereby facilitating consistent orientation tracking in environments prone to magnetic interference.
🔬Tür:Research Article
📍Kapsam:Genişletilmiş Akademik Örneklem
⚙️Değişkenler:Heading Estimation · Madgwick Filter · Magnetic Anomaly Detection

Abstract

Accurate heading estimation is critical for autonomous navigation. However, the widely utilized Madgwick filter may encounter orientation inaccuracies when subjected to environmental magnetic perturbations. This study proposes an enhanced heading estimation framework that integrates a real-time magnetic anomaly detection mechanism into the conventional Madgwick filter architecture. The proposed methodology continuously monitors the instantaneous magnetic field magnitude and inclination angle, evaluating them against threshold boundaries determined in a magnetic-interference-free environment. Upon the detection of a magnetic disturbance, the system proactively adjusts the filter’s gain parameter (β), effectively decreasing the influence of the magnetometer while increasing reliance on gyroscope data. While initial gyroscope bias is calibrated in static conditions in this study, maintaining precision over extended durations or under significant temperature variations may necessitate periodic recalibration. The algorithm was validated through eight experimental trials involving short-range navigation and rotational maneuvers under conditions of magnetic interference. Comparative analysis indicates that the proposed method demonstrates improved performance over the classical Madgwick filter, with the mean of the maximum heading errors across all trials reduced from 24.95° to 2.28°. Furthermore, the method yielded average mean error, standard deviation, and root mean square error (RMSE) values of 1.13°, 0.60°, and 1.29°, respectively. These findings indicate that the integration of an adaptive anomaly mitigation strategy yields improved accuracy in heading estimation, thereby facilitating consistent orientation tracking in environments prone to magnetic interference.

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Bu Makaleye Atıf Yap

Ünal, O. (2026). Proactive Magnetic Anomaly Suppression Algorithm for Robust Madgwick-Based Heading Estimation. Gazi University Journal of Science Part A: Engineering and Innovation, Volume: 13 Issue: 3. https://doi.org/10.54287/gujsa.1939810

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