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Correction method and device for three-axis magnetometer

A calibration method, three-axis magnetic technology, applied in the direction of measuring devices, instruments, measuring electrical variables, etc., can solve problems such as the inability to calibrate the magnetometer and the inability to provide a visual interface for sample collection

Pending Publication Date: 2021-03-16
HARXON CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The existing technology generally displays the collected samples through a visual interface, and confirms whether the samples are collected through human observation. After the collection is completed, it is corrected through a manual calibration process. However, for some applications, it is impossible to provide a visual interface display the collection of samples;
[0006] In addition, for some carriers that cannot perform tumbling motion on the Z-axis of the magnetometer, for example: for heavy machinery such as tractors, since it is impossible to perform tumbling motion on the tractor to obtain samples in the Z-axis direction, the magnetometer cannot be tumbling Z-axis direction is corrected

Method used

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  • Correction method and device for three-axis magnetometer

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Experimental program
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Effect test

Embodiment 1

[0069] Optionally, in the embodiment of the present application, the calibration method of the above-mentioned three-axis magnetometer can be applied to such as figure 1 In the hardware environment constituted by the terminal 101 and the server 103 as shown. Such as figure 1 As shown, the server 103 is connected to the terminal 101 through the network, and can be used to provide services for the terminal or the client installed on the terminal. A database 105 can be set on the server or independent of the server to provide data storage services for the server 103. The above The network includes but not limited to: a wide area network, a metropolitan area network or a local area network, and the terminal 101 includes but not limited to a robot.

[0070] A method for calibrating a three-axis magnetometer in the embodiment of the present application may be executed by the server 103, or may be jointly executed by the server 103 and the terminal 101. The method for calibrating th...

Embodiment 2

[0107] see Figure 5 , Figure 5 It is a schematic flow chart of a calibration method for a three-axis magnetometer provided in Embodiment 2 of the present application. The calibration method includes:

[0108] S402: When the carrier moves in a circle on the plane formed by the X axis and the Y axis, collect the plane measurement value of the target three-axis magnetometer on the plane formed by the X axis and the Y axis;

[0109] For example, the plane measurement values ​​of the target three-axis magnetometer on the plane formed by the X axis and the Y axis may be collected to perform ellipse fitting on the target three-axis magnetometer.

[0110] S404: Calculate the plane zero bias value of the target three-axis magnetometer by using the plane measurement value;

[0111] S406: Calculate a plane correction parameter of the target three-axis magnetometer by using the plane measurement value and the plane zero bias value;

[0112] S408: Using the plane correction parameters...

Embodiment 3

[0165] In this embodiment, the calibration method of the three-axis magnetometer can be applied to a carrier equipped with a target three-axis magnetometer and a reference three-axis magnetometer, wherein the Z-axis direction of the target three-axis magnetometer and The Z-axis direction of the reference three-axis magnetometer is opposite, see Figure 8 , Figure 8 A schematic flowchart of a calibration method for a three-axis magnetometer provided in Embodiment 3 of the present application, the calibration method includes:

[0166] S801: When the carrier performs circular motion, collect the plane measurement value of the target three-axis magnetometer on the plane formed by the X axis and the Y axis;

[0167] S802: Calculate the plane zero bias value of the target three-axis magnetometer by using the plane measurement value;

[0168] S803: Calculate a plane calibration parameter of the target three-axis magnetometer by using the plane measurement value and the plane zero ...

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Abstract

The invention relates to a correction method and device for a three-axis magnetometer, and the method and device are used for a carrier provided with a target three-axis magnetometer and a reference three-axis magnetometer, and the Z-axis direction of the target three-axis magnetometer is opposite to the Z-axis direction of the reference three-axis magnetometer. The correction method comprises thesteps: when the carrier moves, collecting at least one target measurement value of a target triaxial magnetometer in the Z-axis direction and at least one reference measurement value of a reference triaxial magnetometer in the Z-axis direction; calculating a correction parameter of the target triaxial magnetometer in the Z-axis direction by using at least one target measurement value and the at least one reference measurement value; and correcting the target measurement value by using the correction parameter of the target triaxial magnetometer in the Z-axis direction to obtain a corrected Z-axis measurement value of the target triaxial magnetometer. According to the invention, the sample in the Z-axis direction of the target three-axis magnetometer can be collected without rolling the target three-axis magnetometer, so as to correct the Z axis of the target three-axis magnetometer.

Description

technical field [0001] The present application relates to the technical field of sensor calibration, in particular to a calibration method and device for a three-axis magnetometer. Background technique [0002] The current system that uses the geomagnetic field to determine the orientation and realize the navigation and orientation function is called the magnetic heading system. The magnetic sensor is used to measure the geomagnetic field and convert it into a digital value, and then the microprocessor calculates the heading angle or azimuth. [0003] However, a major disadvantage of the magnetic sensor is that it is susceptible to interference from the external environment, so the measured value obtained by the magnetic sensor needs to be corrected to obtain accurate results; [0004] However, in the actual application process, since the magnetic field environment will change after the magnetometer is installed on the carrier, initial calibration needs to be performed on s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01R35/00G01V13/00
CPCG01R35/005G01V13/00
Inventor 徐娟娟张海军黄光辉农海革
Owner HARXON CORP