Strapdown three-axis magnetometer error one-step correction method based on functional link artificial neural network and field mode square difference

Abstract

The invention provides a strapdown three-axis magnetometer error one-step correction method based on a functional link artificial neural network and field mode square difference. The method comprises: establishing a measurement model of earth magnetic field module value square difference, dividing earth magnetic field measured data in different sensor attitudes into two groups, training a functional link artificial neural network which is formed by the measurement model of the field module square difference; using a neural network weight which is obtained by successful training to form an error corrector, performing error correction on instrumental errors, installation aligning errors, and disturbing magnetic fields of the three-axis magnetometer, to obtain a corrected earth magnetic field measured value. The method can further correct the instrumental errors, installation aligning errors, and disturbing magnetic fields of the strapdown three-axis magnetometer, improves measurement precision of the earth magnetic field, and has good robustness on measured noise in different levels. Using the correction method does not need auxiliary equipment to measure the earth magnetic field and carrier attitudes, and components of the error correcting device of thee strapdown three-axis magnetometer is simplified, and cost is reduced.

Description

technical field [0001] The invention relates to a method for measuring the earth's magnetic field, in particular to a one-step error correction method for a strapdown three-axis magnetometer. Background technique [0002] Geomagnetic field measurement is the measurement of geomagnetic elements and their changes with time and space, providing basic data for geological surveys and geomagnetic field research, helping to understand the cause and evolution of the earth, mastering the law of volcanic activity and earthquake prediction, etc. It has wide application value in aerospace, resource exploration and other fields. The fluxgate-type three-axis magnetometer is a commonly used instrument for measuring the three components of the geomagnetic field and its modulus. Due to factors such as imperfect manufacturing technology and installation process, three-axis magnetometers have instrument errors such as three-axis non-orthogonality, scale factor deviation between axes, and zero...

AI Technical Summary

Problems solved by technology

The above method can correct the instrument error of the three-axis magnetometer, but in principle it is also necessary to measure the modulus of the geomagnetic field, and does not consider the influence of the interfering magnetic field

[0005] At present, some three-axis magnetometer error correction methods only correct one or two types of instrument errors, and some do not consider factors such as interference magnetic fields, installation alignment errors, etc. In particular, most error correction methods that have nothing to do with attitude need to be equipped with Scalar magnetometers and / or attitude measuring equipment for measuring the modulus of the local geomagnetic field, etc., increase the cost of the strapdown three-axis magnetometer measurement error correction system

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