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Three-axis magnetometer full-parameter external-field calibration method assisted by using three-axis accelerometer

A technology of axis acceleration and calibration method, which is applied in the field of navigation and guidance, and can solve problems such as information loss

Pending Publication Date: 2020-01-17
CHINA UNIV OF MINING & TECH
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Problems solved by technology

Obviously there is information loss in the conversion process from 3×1 vector to 1×1 scalar
Even taking into account the property that the magnitude of vector observations in attitude measurements is independent of attitude measurements, there is an information loss from the 2D direction vector to the 1D scalar

Method used

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  • Three-axis magnetometer full-parameter external-field calibration method assisted by using three-axis accelerometer
  • Three-axis magnetometer full-parameter external-field calibration method assisted by using three-axis accelerometer
  • Three-axis magnetometer full-parameter external-field calibration method assisted by using three-axis accelerometer

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Embodiment Construction

[0075] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] According to the present invention, a full-parameter external field calibration method of a three-axis magnetometer assisted by a three-axis accelerometer, the process is as follows figure 1 shown, including the following steps:

[0077] Step 1, in the dynamic environment of the external field, collect the measured values ​​of the three-axis magnetometer to be calibrated and the measured values ​​of the calibrated three-axis accelerometer at n times;

[0078] Step 2. Preprocess the measured values ​​of the three-axis accelerometer at n times, and express the attitude matrix to be solved at each moment as an angle to be solved; the details are as follows:

[0079] The observation model of the calibrated triaxial accelerometer at the i-th moment is:

[0080] a i =A i a g (1)

[0081] where i=1,2,...,n,a i is the a...

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Abstract

The invention discloses a three-axis magnetometer full-parameter external-field calibration method assisted by using a three-axis accelerometer. The method is used for external-field autonomous-calibration of 12-dimensional parameters of a three-axis magnetometer. The parameters include 3 zero-bias parameters, 3 scale parameters, 3 cross-coupling parameters and 3 coordinate rotation parameters relative to the three-axis accelerometer. Except for the three-axis accelerometer installed in a juxtaposition manner, the method does not require additional auxiliary equipment. In the method, a to-be-solved attitude matrix of a certain sampling time is represented as a to-be-solved angle according to a three-axis accelerometer observation of the time, then three-axis magnetometer observations of all sampling time are used to carry out solving on the to-be-calibrated parameters and to-be-solved angles at all sampling times at the same time, and an expectation-maximum likelihood algorithm (EM algorithm) is used for parameter solving in a specific solving process.

Description

technical field [0001] The invention belongs to the technical field of navigation and guidance, and in particular relates to a full-parameter external field calibration method of a three-axis magnetometer assisted by a three-axis accelerometer. Background technique [0002] When the background geomagnetic field vector is known, the measured value of the three-axis magnetometer contains the attitude information of the carrier. In view of its low cost, low power consumption, small size, and light weight, the three-axis magnetometer is widely used in the field of low-cost attitude measurement. For example, in the MARG sensor, the three-axis magnetometer is an important component. In addition, The two components are a three-axis accelerometer and a three-axis gyroscope. [0003] In attitude measurement applications, a three-axis magnetometer is required to measure the three-axis components of the background geomagnetic field in the carrier coordinate system. However, in additi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01R35/00
CPCG01R35/005G01C25/00
Inventor 常国宾陈超张思宇张书毕
Owner CHINA UNIV OF MINING & TECH
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