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Dynamic calibration method and system for vehicle-mounted geomagnetic sensor

A geomagnetic sensor, dynamic calibration technology, applied in the field of sensor calibration, can solve problems such as poor robustness

Active Publication Date: 2021-07-06
TSINGHUA UNIV
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Problems solved by technology

The scalar detection calibration method can dynamically calibrate the geomagnetic sensor with the change of the vehicle position, but the intermediate matrix is ​​required to be positive definite in the calculation process to solve the error calibration parameters, and the robustness is poor

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  • Dynamic calibration method and system for vehicle-mounted geomagnetic sensor
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  • Dynamic calibration method and system for vehicle-mounted geomagnetic sensor

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Embodiment Construction

[0035] The technical solutions of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0036] The principle of the present invention is: in the calibration process of the geomagnetic sensor, GPS latitude and longitude information and the International Geomagnetic Reference Field Model (IGRF) are introduced to dynamically calculate the theoretical geomagnetic vector under the northeast sky coordinate system, and the vehicle attitude reference system (AHRS) is used to measure the vehicle in real time. After the current attitude, the theoretical geomagnetic vector in the northeast sky coordinate system can be transformed into the theoretical geomagnetic vector in the vehicle coordinate system, and the calibration parameters of the geomagnetic sensor can be obtained by recursion from the theoretical geomagnetic vector in the vehicle coordinate system and the measured geomagnetic model , to realize the dynam...

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Abstract

The invention provides a dynamic calibration method and system for a vehicle-mounted geomagnetic sensor. The method comprises the following steps: firstly, analyzing the latitude, longitude and altitude of a current geographic position of a vehicle from a GPS signal, then obtaining a reference geomagnetic induction intensity under an east-north-sky coordinate system by an IGRF model, introducing vehicle attitude information from a vehicle attitude measurement system, and then obtaining a geomagnetic reference value under a current vehicle attitude vehicle coordinate system; and carrying out recursive least square iteration solution on the geomagnetic reference value and a geomagnetic sensor measurement value to obtain a geomagnetic sensor calibration parameter. Calibration of error parameters of the vehicle-mounted geomagnetic sensor can be realized, a real geomagnetic sensor measurement value is obtained after error compensation is carried out on a geomagnetic sensor measurement value interfered by the outside world, meanwhile, the method is not limited by the geographic position of the vehicle, and when the geomagnetic induction intensity is obviously changed due to the change of the position of the vehicle, an error parameter calibration process can be dynamically completed in real time.

Description

technical field [0001] The invention relates to the technical field of sensor calibration, in particular to a dynamic calibration method and system for a vehicle-mounted geomagnetic sensor. [0002] technical background [0003] Geomagnetic sensors can be used to measure the magnetic induction intensity and direction of the geomagnetic field, and are widely used in vehicle navigation. The distribution strength and direction of the earth's magnetic field on the earth's surface change with latitude and longitude, altitude and time. This change can be described by the International Geomagnetic Reference Field (IGRF) model. In addition, printed circuit boards in vehicle electronics The wire current, permanent magnet material and vehicle shell will all affect the magnetic induction intensity of the geomagnetic field. The magnetic induction intensity of the geomagnetic field and the magnetic induction intensity of the interference magnetic field are superimposed on each other to ca...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/08
CPCG01C25/00G01C21/08
Inventor 连小珉袁良信王源杜鹏
Owner TSINGHUA UNIV
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