Calibration method of background magnetic field based on fusion of gyroscope and magnetic sensor

A magnetic sensor and background magnetic field technology, which is applied in the field of background magnetic field calibration based on the fusion of gyroscopes and magnetic sensors, can solve the problems of background magnetic field calibration accuracy and low accuracy of magnetic sensor measurement errors, and achieve high reliability and improve calibration accuracy , the effect of simple solution algorithm

Active Publication Date: 2021-06-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, the measurement error accuracy of the magnetic sensor is low, which will have a certain impact on the calibration accuracy of the background magnetic field in practical engineering applications.

Method used

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  • Calibration method of background magnetic field based on fusion of gyroscope and magnetic sensor
  • Calibration method of background magnetic field based on fusion of gyroscope and magnetic sensor
  • Calibration method of background magnetic field based on fusion of gyroscope and magnetic sensor

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Embodiment 1

[0063] In this embodiment, it is assumed that the three-axis magnetic sensor is installed in the missile body, and its installation point is at the center of mass of the missile body, so that the three axes of the magnetic resistance sensor are parallel to and in the same direction as the three axes of the gyroscope coordinate system and the missile coordinate system. figure 1 It is an algorithm flow chart provided by Embodiment 1 of the present invention. Such as figure 1 As shown, the local geomagnetic component H e =[H N ,H E ,H Z ] T , the magnetic sensor measurement component is In this embodiment, the gyroscope is used to measure the attitude angle of the carrier in the early stage, and according to the attitude angle γ initially set by the gyroscope 0 , θ 0 , ψ 0 , and the attitude angle γ, θ, ψ of the carrier measured by the gyroscope, using the formula (1) to solve the carrier coordinate system H b , and H b =H M , combined with the local magnetic field st...

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Abstract

The invention discloses a background magnetic field calibration method based on fusion of a gyroscope and a magnetic sensor. , calculate the carrier coordinate system according to the attitude angle of the initial state of the gyroscope and the attitude angle measured by the gyroscope, and obtain the magnetic field strength measured by the magnetic sensor. The intensity is calibrated against the background magnetic field. The gyroscope attitude measurement technology provided by the invention can solve the problem that the geomagnetic attitude measurement cannot be solved independently, and the gyroscope has the advantages of high reliability, simple calculation algorithm and high measurement accuracy in the attitude measurement. Therefore, the background magnetic field calibration method based on the fusion of the gyroscope and the magnetic sensor provided by the present invention can effectively improve the calibration accuracy of the background magnetic field.

Description

technical field [0001] The invention relates to the technical field of magnetic field detection, in particular to a background magnetic field calibration method based on fusion of a gyroscope and a magnetic sensor. Background technique [0002] The geomagnetic field is a stable physical field distributed continuously on the earth, and it is an ideal reference. With the application of microelectronics technology in geomagnetic detection sensors, geomagnetic detection technology has made great progress. Due to the geomagnetic field navigation and positioning, it has passive, no radiation, anti-interference, all-day, all-weather, small size, and low energy consumption. Therefore, it has been widely concerned and researched and applied in the fields of aircraft, missile guidance, ships and submarines. According to the Tolles-Lawson theory, any object moving in space generates a background magnetic field. The magnetic field information measured by the navigation carrier through...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor魏晨晨韩勇强徐建华王新健梁俊宇
OwnerBEIJING INSTITUTE OF TECHNOLOGYGY