Geomagnetic vector measurement error calibration method with combination of element restriction and summation restriction

Abstract

The invention belongs to the field of geomagnetic measurement, and relates to a geomagnetic vector measurement error calibration method with combination of element restriction and summation restriction. The geomagnetic vector measurement error calibration method comprises the steps of (S1), selecting a calibration area, setting a nonmagnetic surface at the central position of the area, measuring an earth magnetic field modulus above the nonmagnetic surface by means of a scalar magnetometer, and marking the earth magnetic field modulus as Hesum; (S2), packaging an earth magnetic vector measurement system in a nonmagnetic L-surface housing, and placing the housing on the nonmagnetic surface; (S3), overturning the L-surface housing, when each surface is used as the bottom surface, rotating the L-surface housing around the vertical shaft of the nonmagnetic surface for M attitudes in an equal angle difference manner, recording the output value of a triaxial magnetic sensor at each attitude time and an attitude angle which is resolved by an inertial navigation system; (S4), establishing a linear equation group, performing combined solving through using the earth magnetic field modulus as a restraining condition, and obtaining a measurement error model parameter; and (S5), calibrating measured data which are output from the triaxial magnetic sensor, and obtaining the earth magnetic field vector value of the area with the measurement system.

Description

technical field [0001] The invention belongs to the field of geomagnetic measurement, and in particular relates to a geomagnetic vector measurement error calibration method combining component and total quantity constraints. Background technique [0002] The geomagnetic field is a vector field. In the geographic coordinate system, its three components are north component X, east component Y and vertical component Z. Based on the three components, elements such as the horizontal strength of the geomagnetic vector, magnetic declination, magnetic inclination and total strength can also be obtained. The so-called geomagnetic field vector measurement is to obtain the projection component of the geomagnetic field in the geographic coordinate system. In geomagnetic field vector measurement, a three-axis magnetic field sensor and an inertial navigation system (composed of a three-axis gyroscope and an accelerometer) are usually required. The three-axis magnetic field sensor is use...

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Problems solved by technology

However, there is a large difference between the geomagnetic vector value obtained by the global geomagnetic model and the real value, which will affect the parameter estimation accuracy and error calibration accuracy

[0006] In summary, there are the following problems in the above method: 1) In terms of disturbance magnetic field compensation, the ellipsoid equation used to estimate the parameters of the disturbance magnetic field model is quadratic, and there are multiple local optima in the solution, so it is difficult to ensure the consistency between the estimated value and the real value ; 2) In terms of misalignment angle calibration, the processing accuracy and operation accuracy of calibration and compensation equipment are very high; 3) In terms of comprehensive error calibration, it is difficult to accurately obtain the geomagnetic field vector (the geomagnetic vector calculated by the global geomagnetic model There is a large difference between the value and the real value), which will affect the error calibration accuracy

At present, there is still a lack of an effective comprehensive error calibration method for disturbing magnetic fields and misalignment angles

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