Real-time calibration method for magnetic sensor

A technology of a magnetic sensor and a calibration method, applied in the field of sensor calibration, can solve the problems of high cost, high complexity, and large amount of calculation of batch data.

Active Publication Date: 2019-08-27
SUZHOU UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

These technologies are either costly and complex, or batch data is computationally intensive and occupies a large memory space

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  • Real-time calibration method for magnetic sensor
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  • Real-time calibration method for magnetic sensor

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Embodiment Construction

[0064] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.

[0065] refer to figure 1 As shown, the present invention discloses a real-time calibration method for a magnetic sensor, comprising the following steps:

[0066] (1) Establish and integrate the full error model of magnetic sensor measurement to obtain a simplified measurement model;

[0067] The full error model of the magnetic sensor is:

[0068]

[0069] in is the measured magnetic sensor data, P=||m n ||S M C NO C SI , h m = S M C NO b HI +b M =[h 1 h 2 h 3 ] T , S M is the proportional error, C NO is the non-orthogonal error, C SI is the soft magnetic interference coefficient matrix, is the attitude transfer matrix of the navigation system to the ca...

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Abstract

The invention discloses a real-time calibration method of a magnetic sensor. The method comprises the following steps: establishing a magnetic sensor measurement full error model and integrating to obtain a simplified measurement model; rotating the magnetic sensor, and acquiring a plurality of groups of three-axis data of the magnetic sensor in the rotating process; obtaining an ellipsoid trajectory model according to the plurality of groups of three-axis data and the simplified measurement model, and obtaining an estimation of the magnetic calibration parameters based on an iterative least square method; and on the basis of iterative estimation, completing the estimation of the parameters of the magnetic sensor by adopting secondary unbiased maximum likelihood estimation. The real-time calibration method of the magnetic sensor does not need the assistance of large-scale equipment, and is low in cost, small in calculated amount and simple and convenient to operate.

Description

technical field [0001] The invention relates to the field of sensor calibration, in particular to a real-time calibration method for a magnetic sensor. Background technique [0002] With the rapid development of Micro-Electro-Mechanical Systems (MEMS) technology, it has become a research hotspot to develop an accurate long-term positioning system based on MEMS inertial devices without external signals. Most micro inertial measurement units (MIMUs) based on MEMS technology integrate a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Due to the shortcomings of weak heading observation in traditional inertial navigation systems, magnetic sensors based on the principle of geomagnetic northing are widely used for heading estimation. However, due to the complex distribution of the magnetic field in the external environment, the magnetic sensor information is usually affected by magnetic field interference, which mainly includes soft and hard iron i...

Claims

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Application Information

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IPC IPC(8): G01C25/00G06F17/18G06F17/50
CPCG01C25/00G06F17/18G06F2111/10G06F30/20
Inventor 徐大诚曹国灿徐祥
Owner SUZHOU UNIV
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