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Error compensation method of three-axis magnetic field sensor connected to underwater vehicle in strap-down mode

A magnetic field sensor and underwater submersible technology, which is applied in the direction of instruments, scientific instruments, and sound wave re-radiation, and can solve the problems of affecting the magnetic field compensation effect and the inaccurate carrier magnetic field model.

Inactive Publication Date: 2014-11-26
HARBIN ENG UNIV
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Problems solved by technology

If the carrier induced magnetic field coefficient matrix is ​​regarded as a constant, the carrier magnetic field model will be inaccurate and affect the magnetic field compensation effect

Method used

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  • Error compensation method of three-axis magnetic field sensor connected to underwater vehicle in strap-down mode
  • Error compensation method of three-axis magnetic field sensor connected to underwater vehicle in strap-down mode
  • Error compensation method of three-axis magnetic field sensor connected to underwater vehicle in strap-down mode

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Embodiment Construction

[0031] Embodiments of the present invention are described in detail below:

[0032] A method for compensating errors of a three-axis magnetic field sensor strapped down to an underwater submersible according to the present invention. The three-axis magnetic sensor strapped down to the submerged submersible constitutes a geomagnetic field modulus gradient measurement device, allowing the carrier to perform a series of changes in attitude Correct the maneuvering navigation, and at the same time, the magnetic sensor measures a set of measurement values ​​of the geomagnetic field modulus gradient including the carrier's interference magnetic field and the sensor's own error information under different attitudes of the carrier, and uses the inertial navigation system or gyro compass to record the attitude of the carrier during each measurement , using the measured value of the magnetic sensor to obtain the nonlinear equation about the measured value of the geomagnetic field. The unk...

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Abstract

The invention belongs to the field of underwater geomagnetic aided navigation and particularly relates to an error compensation method of a three-axis magnetic field sensor connected to an underwater vehicle in a strap-down mode. The error compensation method comprises the steps of obtaining a geomagnetic modulus gradient measured value of a carrier at a certain attitude through the three-axis magnetic field sensor connected to the underwater vehicle in the strap-down mode; obtaining a set of geomagnetic modulus gradient measured values and carrier attitude angle information corresponding to the measured values; substituting the obtained geomagnetic modulus gradient measured values Fm at different attitudes into an equation including the carrier induced magnetic field coefficient matrixes; using a trust region method to estimate unknown parameters in error matrixes in the equation; obtaining error elements in the error matrixes and further obtaining the error matrixes; substituting the obtained error matrixes into the equation including the carrier induced magnetic field coefficient matrixes to compensate the geomagnetic measured values. By means of the error compensation method, the problem that a selected inappropriate initial point possibly causes iteration divergence and accordingly a correct estimation result cannot be obtained.

Description

technical field [0001] The invention belongs to the field of underwater geomagnetic assisted navigation, and in particular relates to an error compensation method for a three-axis magnetic field sensor strap-down connected to an underwater submersible. Background technique [0002] Underwater geomagnetic navigation and positioning has the characteristics of passive, non-radiation, all-time, all-region, etc. It is one of the ideal ways to realize real-time, continuous and accurate underwater autonomous navigation of underwater vehicles. In the geomagnetic navigation technology, the accuracy of the geomagnetic field data measured by the geomagnetic sensor on the carrier determines the accuracy of the geomagnetic navigation. Once the measurement process introduces interference items, the accuracy of geomagnetic navigation will be seriously affected, and even navigation cannot be performed. Therefore, the output error of the carrier vector magnetic sensor must be compensated. ...

Claims

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Application Information

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IPC IPC(8): G01V3/40
Inventor 黄玉武立华
Owner HARBIN ENG UNIV
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