Method for comprehensively compensating geomagnetic vector measurement error on basis of linear model

Abstract

The invention discloses a method for comprehensively compensating a geomagnetic vector measurement error on basis of a linear model. The method includes the steps of S1, selecting a calibration area, setting a non-magnetic plane at the center of the calibration area, packaging a triaxial magnetic sensor and an inertial navigation system in a non-magnetic side-sided box, and placing the six-sided box on the non-magnetic plane; S2, turning the six-sided box to put it on the non-magnetic plane successively with each side as a bottom face, allowing the six-sided box to rotate around a vertical axis of the non-magnetic plane under equal angular differences for M attitudes, and recording an output value of the triaxial magnetic sensor and an output value of a three-axis gyroscope in the inertial navigation system at each attitude moment; and S3, acquiring a projection vector reference value of a geomagnetic field vector in a geographic coordinate system, and solving a system of linear equations according to the output value of the triaxial magnetic sensor and the output value of the three-axis gyroscope obtained in step S2 so as to obtain model parameters, a compensated geographic coordinate system and the geomagnetic field vector under a magnetic coordinate system. M is a natural number.

Description

technical field [0001] The invention belongs to the field of magnetic measurement, and in particular relates to an error compensation method for geomagnetic vector measurement, which is mainly aimed at the interference magnetic field caused by magnetic materials and the misalignment angle error between a magnetic sensor and an inertial element. Background technique [0002] The geomagnetic field is a vector field. In order to describe the spatial distribution characteristics of the geomagnetic field, the geographic coordinate system is customarily used, that is, the observation point is taken as the origin of the coordinates, and the geographic north, geographic east, and vertical downward are respectively taken as the x, y, and z axes. positive. In the geographic coordinate system, the components of the geomagnetic field vector are called north component X, east component Y, and vertical component Z. Based on the three components of the geomagnetic vector, the horizontal s...

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Problems solved by technology

[0006] In summary, the above method has the following problems: 1) The ellipsoid equation used to estimate the parameters of the interference magnetic field model is quadratic, and there are multiple local optima in the solution, which makes it difficult to ensure the consistency between the estimated value and the real value; Calibration and compensation equipment have high requirements on machining accuracy and operation accuracy

At present, there is still a lack of an effective comprehensive compensation method for disturbance magnetic field and misalignment angle error

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