A kind of magnetometer calibration method and device
A calibration method and magnetometer technology, which is applied in the direction of measuring devices, instruments, etc., can solve the problems of low timeliness and efficiency of magnetometer calibration, high requirements for equipment computing power, and cumbersome process
Active Publication Date: 2021-09-07
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] However, the current "drawing 8" method or the three-axis rotation method requires manual rotation and movement of the magnetometer or the unmanned equipment equipped with the magnetometer, resulting in the calibration process can only be carried out before the unmanned equipment departure or assembly, and the process It is cumbersome, requires high equipment computing power, and the timeliness and efficiency of magnetometer calibration are low
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[0051] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0052]The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0053] Generally, in order to ensure the driving safety of the unmanned equipment, during the movement of the unmanned equipment, the unmanned equipment needs to use the data collected by various sensors to determine its own posit...
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This specification discloses a magnetometer calibration method and device. When the calibration data collected when the unmanned driving equipment is moving, when the calibration data that meets the calibration calculation conditions are screened out according to the similarity of each calibration data, firstly, according to the calibration data of each calibration data The horizontal attitude information and the calibration parameters to be solved are obtained to obtain the magnetometer heading data corresponding to each magnetometer data, and then determine the real-time deviation and inherent deviation between the satellite heading data and the magnetometer heading data in each calibration data, and use the real-time deviation of each calibration data The minimum difference between the deviation and the inherent deviation is the optimization goal, and the objective function is established to determine the calibration parameters of the magnetometer. Without special operation on the magnetometer, sufficient data for calibration can be obtained when the unmanned equipment is moving, which improves the timeliness and efficiency of magnetometer calibration.
Description
technical field [0001] This specification relates to the field of unmanned driving technology, in particular to a magnetometer calibration method and device. Background technique [0002] Currently, driverless devices determine their own position and navigate based on data collected by sensors. Among them, the common sensors are: IMU, gyroscope, GNSS and magnetometer. [0003] Since the magnetometer is easily affected by a strong magnetic field, the magnetometer needs to be calibrated frequently, usually before use, to ensure that the heading information determined based on the geomagnetic information output by it is accurate. In the prior art, the method of calibrating the magnetometer generally adopts the "drawing 8" method or the three-axis rotation method, so that the magnetometer collects enough data to describe the ellipsoid model, and then performs ellipsoid model fitting on the collected data way to determine the measurement error of the magnetometer. The measurem...
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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 毛一年夏华夏李智超陈刚杨威柳青松张茜
Owner BEIJING SANKUAI ONLINE TECH CO LTD