Triaxial magnetometer self-error online correction method

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...

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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 Compensation Method of Geomagnetic Sensor Error Parameters", Long Dafeng and others proposed to use the Kalman filter to estimate the error parameters to realize the calibration of the three-axis magnetometer, but the estimation effect of the Kalman filter on the nonlinear system bad

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