Triaxial magnetometer self-error online correction method

A technology of three-axis magnetic force and correction method, which is applied in the direction of measuring magnetic variables, measuring devices, instruments, etc., can solve the problems of not considering zero offset error and sensitivity error, unsatisfactory comprehensive error compensation effect, and poor nonlinear system estimation effect, etc. question

Inactive Publication Date: 2018-05-18
HARBIN ENG UNIV
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Problems solved by technology

Using this algorithm has lower requirements on experimental operation and equipment, and is more operable, but it does not consider zero bias error and sensitivity error, and the comprehensive error compensation effect is not ideal.
In the article "Estimation and Compensatio

Method used

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  • Triaxial magnetometer self-error online correction method
  • Triaxial magnetometer self-error online correction method
  • Triaxial magnetometer self-error online correction method

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Embodiment Construction

[0063] The specific embodiment of the present invention will be further described below in conjunction with accompanying drawing:

[0064] Step 1. Select an open area without external interference magnetic field as the calibration area of ​​the three-axis magnetometer, and use the mounting base made of non-ferrous materials to strap down the scalar magnetometer and the three-axis magnetometer to the tail of the carrier .

[0065] Step 2, analyze the main sensor error factors of the three-axis magnetometer, and derive the measurement output model of the three-axis magnetometer for the geomagnetic field vector, which contains three errors: zero bias error, sensitivity error and non-orthogonal error, as shown in formula (1) Shown:

[0066] h m =KH e +H o (1)

[0067] In the formula, is the measurement error coefficient matrix of the three-axis magnetometer, where s x ,s y ,s z is the sensitivity error of the three axes, α, β, γ represent the Y axis and Y axis respectiv...

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Abstract

The invention discloses a triaxial magnetometer self-error online correction method, and belongs to the electronic instrument measuring calibration and correction field; the method mainly comprises the following steps: obtaining a modular square expression of a geomagnetism vector measuring value containing three error parameters; building a triaxial magnetometer error parameter estimation systemmodel; obtaining an estimated value of the error parameter; obtaining the corrected geomagnetism vector measuring value. The method utilizes an adaptive particle filter algorithm so as to obtain a geomagnetism field vector compensation value in real time; the method proposes the adaptive particle filter so as to fast estimate the parameters, thus improving the estimation efficiency, fast estimating the error parameters, and improving the parameter estimation instantaneity; in addition, the particle filter has a better filtering effect on a non-linear system; therefore, the calibration method is low in cost, and good in applicability.

Description

technical field [0001] The invention belongs to the fields of nonlinear optimal estimation and measurement calibration and correction of electronic instruments, and in particular relates to an online correction method for the self-error of a three-axis magnetometer. Background technique [0002] In the fields of geological exploration, magnetic target detection, geomagnetic navigation and flight control, it is often necessary to use a three-axis magnetometer to measure the geomagnetic field. However, due to the lack of processing technology and installation technology of the manufacturer of the three-axis magnetometer, there are deviations in the magnetic measurement results. The main error factors are three-axis non-orthogonal error, sensitivity error and zero offset error. These instrument errors greatly affect the measurement accuracy of the geomagnetic field vector, and it is necessary to correct the errors of the three instruments themselves. [0003] A patent with th...

Claims

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Application Information

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IPC IPC(8): G01R33/00G01R35/00G01V13/00G01C25/00
Inventor 黄玉齐瑞云吕振川武立华
Owner HARBIN ENG UNIV
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