Proceedings of the 2009 IEEE
International Conference on Mechatronics and Automation
August 9 - 12, Changchun, China
Electric Current measurement
using AMR Sensor Array
Xisheng Li, Jia You, Xiongying Shu and Ruiqing Kang
School ofInformation Engineering
University ofScience and Technology Beijing
Xueyuan 30, Haidian, Beijing, China
lxs@ies.ustb.edu.cn
Abstract - Anisotropic magnetoresistive sensor can be used to
measure DC and AC current by sensing the field near the
conductor in a contactless way. In order to improve
measurement accuracy, an analysis of the influence of the
displacement of the examined wire is made. According to the
result of the analysis, restriction on the displacement of the
examined wire is given. Current measurement method based on
current carrying wire position estimation is presented.
Experimental results show that current measurement method
based on current carrying wire position estimation is of higher
accuracy than that of direct summation method. For example, for
sensor circular of 25.4 mm radius around the measurement hole
of 10 mm radius, the maximum relative error of wire position
estimation method due to non-concentric wire is about 0.2%.
Index Terms - Anisotropic magnetoresistive sensor. Magnetic
sensor application. Contactless current measuremen. Sensor array.
Position estimation.
I. INTRODUCTION
There are numerous methods used to measure current.
The most common ways include the use of a sampling
resistor, a transformer, or a contactless magnetic sensor. The
voltage drop across the sampling resistor which is in series
with the load is proportional to the current going through the
resistor. This offers good accuracy and low offset, but does
not provide electrical isolation and has high thermal drift. This
allows transient spikes to ruin the sensor and potentially
overload the electronics. The current transformer is made up
of a primary and a secondary coil wrapped around a magnetic
core. The primary coil carries the current to be sensed and
induces a magnetic field in the core. A current is generated in
the secondary coil that is proportional to the primary current
scaled by the turns ratio. The current transformer offers
electrical isolation, but only works for AC applications.
Current transformers can also be large and bulky.
Often used configuration of contactless current
measurement devices comprise magnetic flux concentrators in
the form of a ring around the hole, which the examined wire is
led through. A Hall sensor with the sensitive axis
perpendicular to the cross-section of the ring is placed into an
air gap formed in the ring. This type of current measurement
devices offers electrical isolation, but can also be large and
bulky. Anisotropic Magneto-Resistive (AMR) sensors offer a
high sensitivity, small size, solid state solution. Further, these
devices may be used for contactless current sensing, meaning
they won't break the electrical circuit [1, 2]. This allows for
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electrical isolation and protection of the sensor and
surrounding electronics. The use of the sensors' set/reset
circuitry allows for ultra low offset and ultra low offset drift of
current measurements.
In order to improve measurement accuracy, an analysis of
the influence of the displacement of the examined wire is
made. According to the result of analysis, restriction on the
displacement of the examined wire is given. Current
measurement method based on current carrying wire position
estimation is presented. Experimental results show that current
measurement method based on current carrying wire position
estimation is of higher accuracy than that of direct summation
method.
II. THEORETICAL ANALYSES FOR CENTERED CURRENT
CARRYING WIRE
In the following, we assume that the sensors (from 0 to N-
1) are strictly vectorial, reacting only to the magnetic
component parallel to their sensitive axes. In addition, the
sensitivities (S) will be considered to be identical for all the
sensors. The sensors are placed in an ideal symmetry and
equidistance around the measurement hole so that their centers
are on one concentric circle (name it as "sensor circle"). The
sensitive axis of each sensor is tangent to the circle at this
point.
The output of sensor i (from 0 to N-1) is responses to the
respective magnetic field by a voltage
VOi = SHSA,i (1)
where HSA,i is the magnetic field component parallel to
the sensitive axe of sensor i.
According to the Ampere's law, the magnetic field
intensity at the distance d from a straight current line in a
homogeneous space is
H=_I_
2nd (2)
For the centered position of the wire, the summed output
voltage of the device is
NSf
VOSUM = NVoi = NSHsA = - -
21lR (3)
where N is the number of the sensors in the sensor array,
R is the radius of the sensor circle.
From (3), the current being measured is calculated as
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 2nR I I
1M =--VOSU M = KVOS UM HA =- - =----;============
NS (4) 2m1EA 21C~(R-rcos(a)Y +(O-rsin(a)Y . (6a)

where K = 21lR is the calibration factor of the device for I I

Hs =- -
NS
2m1Es 21C f(O-rcos(a))2 +(R-rsin(a)Y
centered current-carrying wire [3,4]. 'V . (6b)
I I
A. Current measurement based on the direct summation of Hc = - -
AMR sensor outputs 2ffdEC 21C~(-R-rcos(a)Y +(O-rsin(a)Y . (6c)
When the wire is not centered, the outputs of all the
I I
sensors are not identical, and generally the sum of them isn't HD = - -
equal to that for the centered wire at the same current value. 2ffdED 2Jr~(0-rcos(a)Y +(-R-rsin(a)Y . (6d)
Assume that four pairs of AMR sensor are used for
The AMR sensors react only to the magnetic component
current measurement, the center of the sensor circle is 0, the
parallel to their sensitive axises, thus the outputs of these
current-carrying wire is at point E, and four pairs of AMR
AMR sensors are
sensor are equally distributed on the sensor circumference, at
point A, B, C, and D (Fig. 1). One pair of AMR sensor _ S H R - rcos( a)
VOAT - AT A -----'--.........:....
consists of two vertically placed HMC 1021S sensors. On the d EA (7a)
upside of printed circuit board, four HMC1021S sensors with rsin( a)
their sensitive axises directed to tangential direction are VOAN = SAN H A
d EA (7b)
located at point A, B, C, D respectively. We call these four
sensors tangential direction sensors. On the downside of R - r sin (a)
V OBT =SBTHB
printed circuit board, four HMC 1021 S sensors with their d EB (7c)
sensitive axises directed to normal direction are located at
- r cos (a)
point A, B, C, D respectively. We call these four sensors V OBN = SBN H B
normal direction sensors. d EB (7d)
y R + rcos( a)
B V OCT = SCT H C
d EC (7e)
- rsin( a)
V OCN = SCN H C
dEC (7f)
R + rsin( a)
A V ODT = SDT H D
d ED
(7g)
- S H rcos( a)
x V ODN - DN D
c d ED (7h)
where S AT and S AN are the tangential direction sensitivity
and the normal direction sensitivity of sensor pair at point A,
SB T and SB N are the tangential direction sensitivity and the
normal direction sensitivity of sensor pair at point B, S CT and
S CN are the tangential direction sensitivity and the normal
D
direction sensitivity of sensor pair at point C, S [) T and SDN are
Fig. I Four-Point current measurement configuration the tangential direction sensitivity and the normal direction
The coordinates of points A, B, C, D and E are (R, 0), sensitivity of sensor pair at point D, V OAT, V OBT, V OCT and
(0, R), (-R, 0), (0, -R) and (r cos( a), r sin( a)). The distance VODT are the outputs of tangential direction sensor at point A,
between point E and points A, B, C, Dare B, C, D respectively, V OAN, V OBN, V OCN, VO [)N are the outputs
dEA =~(R-rcos(a)? + (O-rsin(a)? (5a)
of normal direction sensors at point A, B, C, D respectively.
If the sum of the sensor output signals is taken for current
calculation, then
d EB =~(O-rcos(a)? +(R-rsin(a)? (5b) VOTS UM = V OAT + V OBT + V OCT + V ODT (8a)
d EC =~(-R-rcos(a)? + (O-rsin(a))2 (5c)
nR
1M = - - VOTSUM = KVOTS UM
2S m
dED = ~(O-rcos(aW +(- R-rsin(a))2 (5d)
(8b)
where V01 SUM is the sum of the outputs of all tangentially
Hence, the magnetic field intensities at points A, B, C, D directed sensors, Sm is the mean value of S AT, S BT, S CT, S m '.
are

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 When the current carrying wire is not centered, the sum of sensors with non-identical sensitivities is greater than that for
the outputs of all the sensors is not equal to that for centered sensors with identical sensitivities. In order to reduce current
wire carrying the same current. The current measurement error measurement error, the sensitivity of magnetic sensor should
is produced. The current measurement relative error is be calibrated.
8J = 1M - I X 100% Table II
I (9) THE MAXIMUM MEASUREMENT RELATIVE ERROR OF-
CURRENT FOR SENSORS OF NON-IDENTICAL SENSITIVITIES
For four-sensor configuration with identical sensitivity, (FOUR-SENSOR CONFIGURATION, SB=SC=SD=S, SA=l.l S,)
the maximum measurement relative error of current is
illustrated in Table I. As r/R increases, 18/lmax increases ~ 0.01 0.02 0.03 0.04 0.05

rapidly. In order to reduce the current measurement error, the

current carrying wire should be centered.
1&lmax (%) 0.02 0.05 0.08 0.10 0.13

Table I
7R 0.06 0.07 0.08 0.09 0.10

THE MAXIMUM MEASUREMENT RELATIVE ERROR OF CURRENT FOR FOUR-

SENSOR CONFIGURATION WITH IDENTICAL SENSITIVITY
1&lmax (%) 0.16 0.19 0.22 0.25 0.28

iR 0.01 0.02 0.03 0.04 0.05 7R 0.11 0.12 0.12 0.14 0.15

1&lmax (%) 1.0E-6 1.6E-5 8.1E-5 2.6E-4 6.2E-4 1&lmax (%) 0.32 0.35 0.39 0.43 0.48

7R 0.06 0.07 0.08 0.09 0.10 7R 0.16 0.17 0.18 0.19 0.20

1&lmax (%) 1.3E-3 2.4E-3 4.1E-3 6.6E-3 0.010 1&lmax (%) 0.53 0.58 0.64 0.70 0.77

7R 0.11 0.12 0.12 0.14 0.15 7R 0.21 0.22 0.23 0.24 0.25

1&lmax (%) 0.015 0.021 0.029 0.038 0.051 1&lmax (%) 0.84 0.92 1.00 1.09 1.20

7R 0.16 0.17 0.18 0.19 0.20 7R 0.26 0.27 0.28 0.29 0.30

18Jlmax (%) 0.066 0.084 0.11 0.13 0.16 18Jlmax (%) 1.30 1.42 1.55 1.69 1.84

7R 0.21 0.22 0.23 0.24 0.25 7R 0.31 0.32 0.33 0.34 0.35

18Jlmax (%) 0.19 0.23 0.28 0.33 0.39 1&lmax (%) 2.00 2.18 2.37 2.58 2.80

7R 0.26 0.27 0.28 0.29 0.30 7R 0.36 0.37 0.38 0.39 0.40

1&lmax (%) 0.46 0.53 0.62 0.71 0.82 1&lmax (%) 3.04 3.30 3.57 3.87 4.19

7R 0.31 0.32 0.33 0.34 0.35 7R 0.41 0.42 0.43 0.44 0.45

1&lmax (%) 0.93 1.06 1.20 1.35 1.52 1&lmax (%) 4.53 4.90 5.30 5.72 6.17

7R 0.36 0.37 0.38 0.39 0.40 7R 0.46 0.47 0.48 0.49 0.50

1&lmax (%) 1.71 1.91 2.13 2.37 2.63 1&lmax (%) 6.65 7.17 7.72 8.31 8.94

7R 0.41 0.42 0.43 0.44 0.45 B Current measurement based on current carrying wire
position estimation
1&lmax (%) 2.91 3.21 3.54 3.89 4.28 According to the output signals of magnetic sensor, the
position of current carrying wire can be estimated.
1R 0.46 0.47 0.48 0.49 0.50 The direction of HA , HB , He, HD can be represented by
their deviation angle
1&lmax (%) 4.69 5.13 5.61 6.12 6.67
qJA = atan2(HAT , HAN)
In order to evaluate the influence of non-identical (lOa)
sensitivities, we assume that SB=Se=SD=S, SA=l.lS. The qJB = atan2(H BT' H BN) (lOb)
maximum measurement relative error of current is illustrated
in Table II. Comparing the data of table II with that of table I, qJc = atan2(HCT' H CN) (IOc)
it can be seen that the maximum measurement error for

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 ({JD = atan2(HDT' H DN) (IOd) «« =~(O-xY +(R- yY (16b)
From the direction of H A and H B , we can calculate the
position of current carrying wire (x(A, B), y(A, B)). de =~(-R-X)2 +(0- yY (16c)
~COs(9'A +~J . do =~(0-X)2 +(-R- yY (16d)
x(A, B) = -R ( ) sInqJB
cos qJA - qJB The sensitivity variation of magnetic sensor at point A, B,
(lla)
C and D due to current carrying wire position deviation can be
~COS(9'B -~) . compensated. The sum of output of magnetic sensors should
be
yeA, B) = R ( ) sIn({JA
cos qJA - ({JB
(lIb) VOS U M = -«; ~ VOAT 2 + VOAN 2 + -dB ~ VOBT 2 + VOBN 2
From the direction of H B and He, we can calculate the R R
position of current carrying wire (x(B, C), y(B, C)).
+ -de ~ VOCT 2 + VOCN 2 + -d D ~ VODT 2 + VODN 2
~cos (9'c - ~) . R R
Then the current can be calculated using (4).
.(17)
x(B, C) = -R ( ) SIn qJB Theoretically.the measurement error can be reduced to
COS ({JB - ({Jc
(12a) O.

y(B,C)=-R
hCOs(9'B +~)
(
.
) slnqJc
III. EXPERIMENTAL RESULTS
Eight AMR sensors (HMCI02IS) were placed on a
COS qJB - qJc printed circuit board, realizing a circular arrary of 25.4 mm
(12b)
From the direction of Heand H D , we can calculate the radius around the measurement hole of 10 mm radius. Four
position of current carrying wire (x(C, D), y(C, D)). symmetrically distributed sensors on the upside of the board
are of their sensitive axises directed to tangential direction and
~cos ( 9'c + ~) . four symmetrically distributed sensors on the downside are of
their sensitive axises directed to normal direction.
x(C, D) = -R ( ) sInqJD
cos qJc - ({JD
(13a) The sensors are flipped periodically at 400 Hz. The output
of magnetic sensor is a square wave signal with amplitude
~COS(9'D -~) . proportional to the magnetic field intensity. The output signal
of each sensor is amplified by precise instrumentation
y(C, D) =R ( ) sln({Jc
amplifier AD623 and then demodulated [5]. The demodulated
cos ({Jc - ({JD
(13b)
signals are led through two multicore cables to the signal
From the direction of HD and HA , we can calculate the processing board, where they are converted into digital
position of current carrying wire (x(D, A), y(D, A)). quantities. On the signal processing board, microcontroller
~cos ( 9' ~) A - •
C805lF061 which has 16-bit 1 Msps ADC is used. The signal
processing board is connected to computer through RS-232.
xeD, A) = R ( ) sm e., The influence of the wire position is illustrated in Fig. 2.
cos ({JD - ({J A
(14a) The measurement was performed with a constant DC current

y(D,A)=-R
~COS(9'D +~)
(
.
) Sln({JA
of 3A and the current carrying wire moved around the edge of
the measurement hole. In order to eliminate the influence of
geomagnetic field, geomagnetic field intensity is measured
COS ({JD - ({JA
(14b) when current being measured is zero. From Fig.2, it can be
The position of current carrying wire can be estimated seen that the maximum relative error of wire position
using (x(A, B), y(A, B)), (x(B, C), y(B, C)), (x(C, D), y(C, D)) estimation method due to non-concentric wire is about 0.2%
and (x(D, A), y(D, A)). (absolute value), which is better than that of direct summation
1 method (2.6%). The residual error is caused mainly by cross-
x=-(x(A, B)+x(B, C)+x(C, D)+x(D, A)) axis effect of AMR sensors and asymmetries in the probe
4 .(15a)
layout.
1
y = -(yeA, B)+ y(B, C)+ y(C, D)+ y(D, A))
4 .(15b)
The distance between current carrying wire and point A,
B, C, D can be calculated.

«, =~(R-xY +(0- y)2 (16a)

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 0.2 , - - - - - - - - - - - - - - - - - - - - - - - - , has been presented. It is based on current carrying wire
position estimation. Experimental results show that the
maximum relative error of wire position estimation method
O. 1 f----- ~ 1!----- ~ -----__:_:-----I~
due to non-concentric wire is much lower than that of direct
summation method.
e
~

~
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'"
'"
>
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An innovative contactless current measurement method

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