Triaxial magnetic electronic compass error compensation method based on depth learning

A deep learning and error compensation technology, applied in the field of error compensation, can solve the problems of slow convergence, poor network generalization ability, and poor real-time performance, and achieve the effect of improving model training accuracy, achieving high-precision orientation, and improving algorithm convergence.

Active Publication Date: 2015-09-23
BEIJING UNION UNIVERSITY
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Problems solved by technology

Although the neural network can identify nonlinear systems and solve complex modeling problems, it generally has problems such as slow convergence and poor real-time performance. Training speed has become the most important pr

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  • Triaxial magnetic electronic compass error compensation method based on depth learning
  • Triaxial magnetic electronic compass error compensation method based on depth learning
  • Triaxial magnetic electronic compass error compensation method based on depth learning

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Embodiment Construction

[0040] The magnetic compass error compensation method based on deep learning proposed by the present invention is divided into two stages, that is, nonlinear error model training and error compensation during use.

[0041] Error Model Training

[0042] The first step: during the experiment, if figure 2 As shown, the magnetic electronic compass is fixed on the rod-shaped carrier, the carrier contains ferromagnetic material and soft magnetic material, and a circle of wire is wound outside the rod-shaped carrier, the current can be adjusted (changing the soft magnetic interference magnetic field, simulating nonlinear error) . Then the rod-shaped carrier is clamped on the three-axis non-magnetic turntable, and the pitch angle, roll angle, and azimuth angle are changed by using the non-magnetic turntable, and the output of the photoelectric encoder is used as the angle reference.

[0043] Step 2: Using the invariant characteristics of the geomagnetic field and gravity field vect...

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Abstract

A triaxial magnetic electronic compass error compensation method based on depth learning. An implicit error model is trained for compensating non-linear error in magnetic compass measurement and improving the orientation accuracy of the magnetic compass. The error model training consists of two stages: a first stage is pre-training, and a second stage is reverse trimming by using a back-propagation algorithm for fine-tuning all layers of the network, and reducing the error of model training. The magnetic compass calibration and compensation procedure is to use depth learning algorithm training to obtain a non-linear error model, and the distorted measurement magnetic field is inversed back to a true magnetic field value, thereby reducing the calculation error of course angle. The invention aims at nonlinear error of magnetic compass and provides the error training method based on depth learning; compared to random initialization of a traditional neural network, the weight of each layer locates in a better position of parameter space, so as help to improve the convergence of the algorithm and model training accuracy and achieve high-precision orientation of magnetic compass.

Description

technical field [0001] The invention relates to the error compensation of the magnetic field measurement of the magnetic electronic compass, especially the compensation for the non-linear error part. technical background [0002] High-precision magnetic and electronic compass is not only one of the core technologies of geomagnetic navigation, but also widely used in fields such as mineral exploration, drilling, and robot orientation. Magnetic and electronic compasses with better performance have been developed abroad, but the nonlinear errors caused by soft magnetic interference and cross-axis effects have not been well resolved. Moreover, because the magnetic electronic compass has obvious military potential, Western countries have strictly prohibited high-precision navigation products from being exported to my country. [0003] The magnetic compass uses a three-axis magnetic sensor and an acceleration sensor to measure the components of the geomagnetic field and the gravi...

Claims

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Application Information

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IPC IPC(8): G01C17/38
CPCG01C17/38
Inventor 刘艳霞张益农
Owner BEIJING UNION UNIVERSITY
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