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Error correction method for geomagnetic vector measurement system based on Lagrange multiplier method

A measurement system and error correction technology, applied in the field of magnetic measurement, can solve problems such as reducing the accuracy of error calibration, failing to meet the requirements of geomagnetic vector measurement accuracy, and affecting the accuracy of parameter estimation.

Active Publication Date: 2017-07-28
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, the geomagnetic field vector obtained by the global geomagnetic model itself also has errors, which will affect the accuracy of parameter estimation, thereby reducing the accuracy of error calibration
[0008] In summary, the existing single-item error separation correction method cannot meet the requirements of geomagnetic vector measurement accuracy, and the error comprehensive correction method based on the global geomagnetic model also has inherent defects. Therefore, a comprehensive error correction method for geomagnetic vector measurement system is studied. The calibration method has certain theoretical significance and practical value

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  • Error correction method for geomagnetic vector measurement system based on Lagrange multiplier method
  • Error correction method for geomagnetic vector measurement system based on Lagrange multiplier method
  • Error correction method for geomagnetic vector measurement system based on Lagrange multiplier method

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Embodiment Construction

[0074] Below, the present invention will be further described in conjunction with the accompanying drawings and specific embodiments.

[0075] 1. The simulation conditions are set, and the simulation test of the present invention is carried out.

[0076] 1) Set the geomagnetic field vector in the test area as B e =[35200-33155-2000]nT (under the geographic coordinate system, according to the global geomagnetic model, the projection vector value of the geomagnetic field vector under the geographic coordinate system can be calculated); the proton magnetometer measures the total amount of geomagnetism above the non-magnetic platform for T e =48397nT.

[0077] 2) According to prior knowledge, preset the values ​​of some parameters in the measurement system (in the magnetic sensor coordinate system), specifically:

[0078] 3) The Euler angles between the magnetic coordinate system and the inertial navigation coordinate system are: [α 0 beta 0 gamma 0 ]=[8-5 3] degrees.

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Abstract

The invention relates to the field of magnetic measurement and, more particularly, to an error calibration method for a geomagnetic vector measurement system based on a Lagrange multiplier method. The error calibration method comprises the steps of (S1) selecting a calibration area, setting a non-magnetic platform at the center of the area, and measuring the total amount of the geomagnetic field above the non-magnetic platform with a proton magnetometer; (S2) encapsulating a geomagnetic vector measurement system in a non-magnetic L-face box, and placing the box on a non-magnetic surface; (S3) turning over and placing the non-magnetic L-faced box on the non-magnetic platform successively with each side as a bottom surface, when each face is used as the bottom surface, rotating the L-faced box around the vertical axis of the non-magnetic platform under uniform angle differences for R attitudes, and recording output values of a three-axis magnetic sensor and an inertial navigation system at each attitude; and (S4) establishing a linear system of equations with the total amount of the geomagnetic field as a constraint for joint solution to obtain comprehensive error model parameters and further obtaining a geomagnetic vector value under a geometrical coordinate system and a magnetic sensor coordinate system after calibration.

Description

technical field [0001] The invention belongs to the field of magnetic measurement, and specifically relates to a method for calibrating the error of a geomagnetic vector measurement system based on the Lagrangian multiplier method, mainly for the inherent error of a three-axis magnetic sensor, the soft magnetic and hard magnetic interference of the measurement system, and the three-axis magnetic Sensitive axis misalignment error between sensor and inertial navigation system. Background technique [0002] The geomagnetic field is a vector field. In the geographic coordinate system, its three components are northward component X, eastward component Y and vertical component Z. Generally speaking, the geomagnetic vector refers to these three components. Therefore, in actual measurement, the three-axis magnetic sensor is used to measure the projection component of the geomagnetic field in the direction of the sensitive axis of the magnetic sensor, and the Euler angle between it a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01V13/00
CPCG01V13/00
Inventor 张琦万成彪潘孟春陈棣湘刘中艳孙晓永吴凤贺
Owner NAT UNIV OF DEFENSE TECH
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