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Geomagnetic heading error correction method

A heading error and geomagnetic technology, applied in the field of integrated navigation, can solve the problem that the geomagnetic sensor cannot meet the high precision requirements of the heading, and achieve the effect of ensuring the heading accuracy

Active Publication Date: 2020-04-10
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

[0003] The invention provides a geomagnetic heading error correction method to solve the technical problem that the geomagnetic sensor cannot meet the high precision requirements of the heading

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Embodiment Construction

[0035] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0036] It should be noted that the terminology used here is only used to describe specific implementations, and is not intended to limit...

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Abstract

The invention provides a geomagnetic heading error correction method. The method comprises the following steps: acquiring a geomagnetic heading psi M by using a geomagnetic sensor; establishing a geomagnetic heading error table, dividing the geomagnetic heading error table into 360 sections, and enabling the 360 sections to be in one-to-one correspondence with 0-360 degrees of the geomagnetic heading psi M; updating the geomagnetic heading error table to obtain an updated geomagnetic heading error table delta psi Mi (i = 1-360) under the condition that the directional flag word of the satellite navigation receiver is valid; and performing smoothing processing on the updated geomagnetic heading error table delta psi Mi (i = 1-360) to obtain a smoothed geomagnetic heading error table, and obtaining a corrected geomagnetic heading psi based on the smoothed geomagnetic heading error table and the geomagnetic heading psi M under the condition that the directional flag word of the satellitenavigation receiver is invalid. According to the technical scheme of the invention, the geomagnetic heading error is modeled when the directional sign word of the satellite navigation receiver is valid, and the geomagnetic heading is corrected by using the established geomagnetic heading error model when the directional sign word of the satellite navigation receiver is invalid, so that the headingprecision is ensured.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a geomagnetic heading error correction method. Background technique [0002] Due to its advantage of no cumulative error, the geomagnetic heading sensor has become a commonly used auxiliary means for the heading channel of low-cost, low-precision MEMS inertial navigation systems. In order to overcome the influence of the surrounding magnetic field environment on the geomagnetic sensor, it is usually necessary to calibrate the geomagnetic sensor. However, the magnetic field distribution during the calibration process of the geomagnetic sensor is significantly different from the distribution in the application environment, so the geomagnetic sensor usually cannot meet the high precision requirements of the heading. Contents of the invention [0003] The invention provides a geomagnetic course error correction method to solve the technical problem that the geomagnet...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/06G01C21/08G01S19/45
CPCG01C21/06G01C21/08G01S19/45
Inventor 徐超张东明孟现春张界林于华男吴衍记
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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