Error Correction Method of Geomagnetic Vector Measurement System Based on Lagrangian Multiplier Method

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 in particular relates to a method for calibrating errors of a geomagnetic vector measurement system based on a Lagrangian multiplier method, mainly aiming at the inherent error of a three-axis magnetic sensor, the soft and hard magnetic interference of a 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 the north component X, the east component Y and the vertical component Z. Generally speaking, the geomagnetic vector refers to these three components. Therefore, in the actual measurement, the three-axis magnetic sensor is used to measure the projected component of the geomagnetic field in the direction of the sensitive axis of the magnetic sensor, and the Euler angle between it and...

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