Method of correcting installation errors between three-axis magnetometer and inertial navigation in strap-down three-component magnetic measurement system
A technology of installation error and three-axis magnetic force, which is applied in the field of installation error correction of strapdown three-axis magnetometer and inertial navigation, can solve the problems of deteriorating correction effect, and achieve the effect of simple and effective method, high practicability and easy operation
Active Publication Date: 2019-06-25
JILIN UNIV +1
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However, this method is more sensitive to the auxiliary vector, if the auxiliary vector is not properly selected, the correction effect will be deteriorated
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[0037] Below in conjunction with accompanying drawing and embodiment the present invention is described in further detail:
[0038] It is worth noting that before using the calibration method of the present invention, the measurement error of the three-axis magnetometer itself needs to be calibrated.
[0039] A strapdown three-axis magnetometer and inertial navigation installation error correction method, comprising the following steps:
[0040] a. Establish an installation error correction platform; select a flat non-magnetic flat plate as the working platform, rigidly fix the magnetometer and inertial navigation on a flat non-magnetic flat plate for rough alignment, and then place the magnetometer and inertial navigation The flat plate is fixed on the non-magnetic turntable, and the installation error correction platform is established, as attached figure 2 shown.
[0041] b. Adjust the non-magnetic turntable so that it rotates one circle along the horizontal plane, and s...
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The invention relates to a method of correcting installation errors between a three-axis magnetometer and inertial navigation in a strap-down three-component magnetic measurement system. Magnetic measurement data are converted to an inertial navigation attitude coordinate system from a magnetometer attitude coordinate system; and after the relative positions between two three-axis coordinate systems are fixed in space, a rotation matrix exists to realize mutual conversion between the two coordinate systems. The key to solve the installation errors is to accurately solve the rotation matrix between the magnetometer attitude coordinate system and the inertial navigation attitude coordinate system. The installation errors between the three-axis magnetometer and the inertial navigation can becorrected accurately, thereby remedying the shortcomings of the mechanical installation precision; a high-precision non-magnetic turntable is not needed, the turntable only needs to be rotated along ahorizontal plane to collect experimental data, and the operation is easy; and an objective function is built by using the parallel relationship between the plane of the magnetic measurement data after coordinate system conversion and the plane of the acquired auxiliary correction data, a nonlinear least squares method is further used to quickly estimate the rotation matrix, and the method is simple and effective and provides a reliable guarantee for three-component magnetic measurement.
Description
technical field [0001] The invention relates to a method for correcting installation errors of a strapdown three-axis magnetometer and an inertial guide, in particular to correcting the attitude error angle between the three-axis magnetometer and the inertial guide. technical background [0002] The three-component magnetic measurement method uses a three-component magnetic measurement system to measure the magnetic field strength of each component of the geomagnetic field. Compared with the traditional total field measurement method, this method can obtain more abundant and accurate geomagnetic field information, and is widely used in many fields. In military terms, underwater targets can be positioned by detecting the three-component magnetic anomaly caused by them. In addition, geomagnetic matching navigation has become an auxiliary navigation method for combat platforms such as drones and missiles; three-component magnetic survey technology can also be used in mineral exp...
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IPC IPC(8): G01C25/00
Inventor赵静高全明王一段树岭段然
OwnerJILIN UNIV