On-line calibration algorithm, medium and system for magnetometer based on unscented Kalman filter
An unscented Kalman and magnetometer technology, applied in the field of inertial navigation and positioning, can solve problems such as unfavorable practical use, inability to eliminate magnetic errors, and unsatisfactory pedestrian navigation portability, etc., to eliminate heading errors, suppress heading angle divergence, and achieve real The effect of heading weight increase
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[0070] The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. The described embodiments are merely a part of the embodiments of the invention.
[0071] The technical solution to solve the above technical problem is:
[0072] Based on the magnetic gauge of eliminating in the laboratory, the navigation equipment independently developed by the laboratory is integrated with a three-axis gyro, a three-axis accelerometer and magnetometer, and a magnetometer calibration is performed. Navigation positioning. Attach figure 1 A flow chart of magnetic meter calibration of the present invention is given. Includes the following steps:
[0073] Step 1, the initial stage, in the space, anywhere rotation magnetometer, collect data for a period of time;
[0074] Step 2, perform ellipsoidity according to the collected magnetometer data;
[0075] Step 3, the error parameter matr...
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