Real-time calibration method based on least square, Taylor expansion and comprehensive residual combination
A least-squares and least-squares technology, applied in measurement devices, instruments, etc., can solve the problems of time change error of magnetic sensor, magnetic material affecting measurement value, etc., achieving small data volume, short solution time, and high calibration accuracy. Effect
Pending Publication Date: 2022-04-22
SUZHOU R&D CENT OF NO 214 RES INST OF CHINA NORTH IND GRP
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However, in the actual flight process, the surrounding environment is constantly changing, the magnetic sensor may change over time, or the influence of the internal components of the flying body may produce errors, and there may be sudden magnetic substances that affect its measured values, etc.
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[0048] The present invention is based on the real-time calibration method of least squares, Taylor expansion and comprehensive residual combination. By using the first-order Taylor series expansion to solve the geomagnetic YZ plane relational expression, the YZ comprehensive residual expression is obtained, and then the initial The correction amount between the point and the real point is solved, and finally the combined solution is performed. Use the comprehensive residual to carry out Taylor expansion, combined with the least squares method to solve, update the unreliable predicted value (initial point) from the linearized correction value, and obtain the real-time calibrated data, so as to ensure the accuracy of the calculated data during the flight sex.
[0049] In the calculation of magnetic sensor data information, a calculation method similar to that of satellite navigation position calculation is adopted. With the help of the data obtained by satellite navigation, the...
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The invention discloses a real-time calibration method based on least square, Taylor expansion and comprehensive residual combination, and the method comprises the steps: solving a geomagnetic YZ plane relational expression through the first-order Taylor series expansion of the data of a magnetic sensor, and obtaining a YZ comprehensive residual expression; and solving the correction between the initial point and the real point by using a least square method, and finally carrying out combined solution. According to the real-time calibration method based on least square, Taylor expansion and comprehensive residual combination provided by the invention, the course angle data is obtained by means of satellite navigation, the Taylor series expansion is applied through magnetic sensor data observation, and the least square method and the comprehensive residual are combined for solving, so that the real-time calibration of the course angle data is realized. According to the calibration technology, errors generated in real time in the flight process can be effectively filtered out, the needed data size is small, the resolving time is short, the calibration precision is high, and real-time calibration can be achieved.
Description
technical field [0001] The invention relates to attitude measurement technology, in particular to a real-time calibration method based on the combination of least squares, Taylor expansion and comprehensive residual error. Background technique [0002] Attitude measurement technology has great application value. Correctly calculating attitude information and reducing the influence of external errors can effectively improve the reliability and accuracy of sensor test results. [0003] Commonly used sensors for attitude measurement include gyroscopes, accelerometers, geomagnetic sensors, etc. This patent focuses on the calibration technology of geomagnetic sensors. Magnetic sensor calibration technology, commonly used ellipse fitting and twelve-position magnetic compass for calibration. Ellipse fitting draws the ellipse trajectory through the X-axis and Y-axis data, and the quadratic surface equation solved is the geomagnetic field measurement expression. The coefficient of t...
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Login to View More IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 张慧龙善丽童紫平吴传奇徐福彬
Owner SUZHOU R&D CENT OF NO 214 RES INST OF CHINA NORTH IND GRP