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Six-axis optimized magnetometer online calibration method

A calibration method and magnetometer technology, applied in measurement devices, surveying and navigation, compass and other directions, can solve the problems of unstable meter data and drift, and achieve the effect of suppressing drift, accurate calibration results, and convenient calibration of magnetometers

Pending Publication Date: 2022-04-05
HANGZHOU DIANZI UNIV
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Problems solved by technology

However, due to the drift of the gyroscope data, the meter data after calibration is not very stable, and there will be drift

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  • Six-axis optimized magnetometer online calibration method
  • Six-axis optimized magnetometer online calibration method
  • Six-axis optimized magnetometer online calibration method

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific implementation cases and with reference to the accompanying drawings.

[0033] figure 1 A flow diagram of the invention is shown.

[0034] refer to figure 1 , combined with figure 2 and image 3 ,right figure 1 The method shown is described in detail. Such as figure 1 As shown, the method for dynamic calibration of magnetometer data includes operation S1-operation S5.

[0035] S1, acquire the value of the accelerometer, the value of the gyroscope and the value of the magnetometer at the last moment.

[0036] In the present invention, the values ​​of the accelerometer and gyroscope can be obtained through the six-axis sensor chip, and the values ​​of the magnetometer can be obtained through the three-axis magnetic sensor chip, and the single-chip microcomputer responsible for ...

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Abstract

The invention discloses a six-axis optimized magnetometer on-line calibration method. The method comprises the following steps: acquiring a value of an accelerometer, a value of a gyroscope and a value of a magnetometer at a previous moment; performing Kalman filtering according to the measured acceleration value and the measured angular velocity value to obtain an optimized stable angular velocity value of the gyroscope; calculating a theoretical value of the magnetometer according to the optimized angular velocity and the value of the magnetometer at the previous moment; constructing an extended Kalman filter according to the theoretical magnetometer value and the actually measured magnetometer value; and calculating the dynamically calibrated value of the magnetometer by using an extended Kalman filter according to the measured accelerometer value and the measured angular velocity value. According to the invention, the dynamic calibration of the magnetometer is realized by using the extended Kalman, so that the calibration result is more accurate, real-time and stable; the data of the accelerometer and the gyroscope are fused and filtered by using the Kalman filter, so that the drift of the extended Kalman dynamic calibration magnetometer is effectively inhibited.

Description

technical field [0001] The invention belongs to the technical field of AHRS, and in particular relates to a six-axis optimized magnetometer online calibration method. Background technique [0002] In the field of AHRS, the stability of the heading angle is very important. The heading angle obtained only by six-axis data fusion will drift with time because the integral error of the gyroscope cannot be compensated; so to determine the accurate heading angle, it is necessary to measure the earth's magnetic field with a magnetometer. As an absolute reference, the actual use of the magnetometer is extremely susceptible to interference from the ambient magnetic field, including hard magnetic interference and soft magnetic interference. Magnetic field calibration is to calculate the parameters of hard magnetic interference and soft magnetic interference, and to correct and compensate the magnetic field data, so as to obtain stable magnetometer data after calibration. [0003] In r...

Claims

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Application Information

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IPC IPC(8): G01C17/38
Inventor 陈科明张百军吴文楷刘剑
Owner HANGZHOU DIANZI UNIV
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