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Magnetometer random noise error compensation method based on improved least square method

A least square method and error compensation technology, applied in the field of geomagnetic field measurement, can solve problems affecting the accuracy of magnetometer measurement

Inactive Publication Date: 2016-06-15
SOUTHEAST UNIV
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Problems solved by technology

The measurement accuracy of the magnetometer can meet the needs of navigation in theory, but in the actual measurement process, due to factors such as magnetic field interference and the accuracy error of the magnetometer itself, the accuracy of the magnetometer measurement is affected, and random noise error compensation for the magnetometer is required

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  • Magnetometer random noise error compensation method based on improved least square method
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  • Magnetometer random noise error compensation method based on improved least square method

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Embodiment Construction

[0061] A method for compensating random noise errors of a magnetometer based on the improved least squares method, comprising the following steps: (1) analyzing the measurement characteristics of the magnetometer, and obtaining the measurement output model of the three-axis magnetometer as:

[0062]

[0063] Among them, B represents the output of the magnetometer; the superscript s represents the sensor coordinate system; B s Indicates the output of the three-axis magnetometer; C M 、C NO 、C SF represent the installation error matrix, non-orthogonal error matrix and scale factor error matrix, respectively; and respectively represent the real geomagnetic field vector, hard magnetic error vector, soft magnetic error vector and sensor zero bias error vector; the superscript b indicates the carrier coordinate system;

[0064] (2) Model the various noise-induced errors, and combine the error models to obtain the error output model of the magnetometer:

[0065]

[0066] ...

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Abstract

The invention discloses a magnetometer random noise error compensation method based on an improved least square method (ILS). The magnetometer random noise error compensation method comprises the steps of: step 1, solving an initial value by utilizing a standard least square method (LS), regarding the initial value as an initial value of an iteration method, and calculating X<r+1> according to a formula shown in description; step 2, repeating the step 1 till the algorithm satisfies a convergence condition ||Tr||<F><Sstop, wherein value of the Sstop can be selected according to actual situation; and step 3, solving intermediate variables Xr, Hr and Tr according to a final value of the X<r+1>, and solving an estimation value of a random noise vector v by substituting the intermediate variables in a formula shown in description. The magnetometer random noise error compensation method has the advantages of overcoming defects of the least square method, is suitable for the situation that correlated error characteristics exist at both ends of an equation, does not need to hypothesize distribution of measured noise, greatly reduces magnetic-field interference noise of a carrier after the ILS error compensation, keeps the noise to be around zero basically, achieves noise error compensation purpose, and improves measurement precision of a triaxial magnetometer.

Description

technical field [0001] The invention relates to the technical field of geomagnetic field measurement, in particular to a random noise error compensation method of a magnetometer based on an improved least square method. Background technique [0002] The geomagnetic-assisted navigation system has the advantages of good concealment and rich information. It is one of the effective ways to solve the problems of long endurance, high precision and autonomous navigation of underwater vehicles, and has become an important underwater navigation and positioning method. The real-time measurement and acquisition of magnetic field physical quantities plays a pivotal role in the entire geomagnetic aided navigation system. The magnetic field measurement work is mainly completed by the magnetometer, which uses an orthogonal three-axis sensor to measure the magnetic induction in the x, y, and z directions to meet the navigation requirements. The measurement accuracy of the magnetometer can ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V3/40G01C21/08
CPCG01V3/40G01C21/08
Inventor 王立辉余乐乔楠
Owner SOUTHEAST UNIV
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