Integrated calibration and compensation method for temperature error of electronic compass sensor

Abstract

The present invention discloses an integrated calibration and compensation method for temperature error of an electronic compass sensor, including placing an electronic compass on six test positions in a temperature chamber; respectively solving the forward calibration parameters, reverse calibration parameters and calibration parameters of the acceleration sensor on three axes and the magnetic sensor on three axes; then placing the electronic compass in a working environment, and using the calibration parameters to perform compensation according to the current temperature and the current measured value. The present invention forms a changing environmental magnetic field and gravity field equivalently through 6 special positions to act on the sensor of the electronic compass, and according to the change characteristics of the sensor sensitive axis measurement value with temperature under the action of different environmental magnetic fields and gravity fields, the temperature compensation parameters of the acceleration sensor and the magnetic sensor are calculated at the same time, and the temperature compensation calibration of the sensor of the electronic compass system is directly performed, which greatly improves the accuracy and reliability of temperature compensation, simplifies the calibration steps, and meets the needs of temperature error calibration of the electronic compass sensor during mass production.

Description

Technical Field

[0001] The invention relates to a method for calibrating and compensating sensor errors in an electronic compass, and in particular to an integrated method for calibrating and compensating temperature errors of an electronic compass sensor. Background Art

[0002] An electronic compass is a device that outputs information such as the azimuth angle of the carrier based on the earth's magnetic field. With the rapid development of science and technology, electronic compasses are widely used in aerospace, marine detection, ground navigation, and aircraft automatic control. The sensors used in electronic compass systems are developing in the direction of integration, intelligence, and miniaturization. As a result, the internal heat of the sensor is difficult to dissipate, and the temperature drift characteristics of the sensor itself are becoming more and more obvious, which seriously affects the measurement accuracy of the magnetic sensor, resulting in the accuracy of the heading angle of the electronic compass being significantly affected by the external working environment.

[0003] In the electronic compass system, the measurement accuracy of the magnetic sensor and acceleration sensor directly affects the accuracy and reliability of the heading angle solution. The industry usually adopts methods such as improving the signal-to-noise ratio of sensor signal acquisition, the orthogonality of the three-axis acceleration sensor, and the orthogonality of the three-axis magnetic sensor to improve the heading angle resolution of the electronic compass. In addition to the above-mentioned influencing factors, the temperature drift of the sensor itself is also an important error factor in the high-precision electronic compass system.

[0004] At present, the common practices and problems for sensor temperature error calibration in electronic compass systems are:

[0005] (1) Directly use the temperature characteristic parameters in the sensor manual for calibration and calibrate the sensor separately. Quoting the manual parameters means directly referring to the sensor temperature characteristic parameters in the manual to correct the sensor measurement data when writing embedded software. However, when calibrating by citing the chip manual parameters, the temperature characteristic parameters in the manual are only a reference value. The temperature characteristic parameters of different batches of products are the same, and the calibration effect is very poor, which makes it difficult to meet the sensor resolution requirements of the high-precision electronic compass system.

[0006] (2) Individual sensor calibration: This method is to place the sensor to be tested in the electronic compass system, use the acquisition circuit in the electronic compass system to collect the ambient temperature of the system and the sensor measurement value, and then use error curve fitting, least squares method and other calculation methods to solve the error compensation parameters. Finally, the error parameters are written into the embedded software to complete the sensor temperature error compensation. This method can not only solve the differences between sensors of different batches, but also solve the temperature error calibration of the entire signal transmission link from sensor signal output to single-chip signal acquisition. It is a relatively systematic means to complete the sensor temperature error calibration of the electronic compass system. However, the existing method for sensor temperature error calibration of the electronic compass system requires the acceleration sensor and magnetic sensor to be calibrated separately, which is time-consuming and labor-intensive, and greatly reduces the product development progress. In addition, the two sensors are calibrated separately, and the calibration environment is inconsistent, and the correlation between the calibration parameters is not strong, which leads to the calibration parameters not necessarily being accurate. In particular, for the temperature calibration of the magnetic sensor, a non-magnetic temperature chamber is required to assist in the temperature error calibration. However, the non-magnetic temperature chamber itself is expensive and has a poor effect on the mass production of electronic compasses. Therefore, a more efficient and accurate calibration method is urgently needed to realize the sensor error calibration of the electronic compass system. Summary of the invention

[0007] The purpose of the present invention is to provide a method for integrating temperature error calibration and compensation of electronic compass sensors, which can solve the above problems, simultaneously complete the calculation of temperature compensation parameters of acceleration sensors and magnetic sensors, directly perform temperature compensation calibration on electronic compass systems, and greatly improve the accuracy and reliability of temperature compensation.

[0008] In order to achieve the above-mentioned object, the technical solution adopted by the present invention is as follows: an integrated calibration and compensation method for temperature error of an electronic compass sensor comprises the following steps;

[0009] (1) Place the electronic compass in a temperature chamber, determine six test positions in the temperature chamber, namely, the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis, and mark them as the first to the sixth test positions in sequence;

[0010] The electronic compass includes a magnetic sensor and an acceleration sensor. N temperature test points are taken within the working temperature range of the electronic compass. A magnet is adsorbed on the outer wall of the temperature box. The magnet can form a stable magnetic field inside the temperature box.

[0011] (2) Place the electronic compass at the jth test position, where j = 1 to 6;

[0012] (3) Control the temperature box to traverse n temperature points from low to high. At the i-th temperature point, i=1~n, measure the magnetic sensor measurement value M of the magnetic sensor on the x, y, and z axes. *ij, and the acceleration sensor measurement value G on the x, y, and z axes *ij , satisfying the relationship described by the following formula,

[0013] M *ij =m *j ×T i +η *j (1)

[0014]

[0015] Get the coefficient of change of the three-axis magnetic field value with temperature under the test position m *j , the magnetic field offset of the three axes η *j , the coefficient of variation of the acceleration measurement values ​​of the three axes with temperature g *j , acceleration offset of three axes Wherein, * is x, y or z;

[0016] (4) The electronic compass traverses the remaining five test positions in turn, repeating step (3) to obtain m under all test positions. *j , η *j , g *j , Indicates the first to sixth test positions;

[0017] (5) solving the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis, including (51)-(53);

[0018] (51) The relationship between the calibration parameters and the true value of the acceleration sensor is established as follows (3);

[0019]

[0020] In the formula, G *j is the true value of the acceleration sensor on the * axis, k *20 、b *20 , k *21 、b *21 is the calibration parameter of the acceleration sensor;

[0021] (52) Determine the relationship between the six coordinate points;

[0022] When the acceleration sensor's positive axis coincides with the positive direction of gravity, G *j =1, parameter g *+ , They are equal to g in formula (2) in the * axis direction at the current test position. *j and The value of the two coordinate points (1, g *+ ),

[0023] When the acceleration sensor's * axis coincides with gravity in the opposite direction, G *j =-1, parameter g *- , They are equal to g in formula (2) in the * axis direction at the current test position. *j and Get the relationship between the two coordinate points (-1, g *- ),

[0024] When the acceleration sensor's * axis is perpendicular to the direction of gravity, there are four vertical positions, G *j =0, calibration parameter g *0 , Equal to four vertical positions, g in formula (2) *j The average value, The average value of the two coordinate points (0, g *0 ),

[0025] (53) Solve the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis;

[0026] The coordinate relationship (1, g *+ ), (0, g *0 ), Substitute into formula (3) and solve for k *20 、b *20 , k *21 、b *21 , respectively marked as k *20+ 、b *20+ , k *21+ 、b *21+ , as the positive calibration parameter of the acceleration sensor in the * axis;

[0027] The coordinate relationship (-1, g *- ), (0, g *0 ), Substitute the value into formula (3) and solve for k *20 、b *20 , k *21 、b *21 , respectively marked as k *20- 、b *20- , k *21- 、b *21- , as the reverse calibration parameter of the acceleration sensor in the * axis;

[0028] (6) solving the calibration parameters of the magnetic sensor on the * axis, including (61)-(62);

[0029] (61) For each measurement position, the true value of the magnetic sensor M *j When the temperature is 25℃, the magnetic sensor measurement value M *ij The mean of M is calculated for each test position. *j ;

[0030] (62) M *j and m in step (3) *j , η *j Substitute into the following equations (4) and (5) to obtain the calibration parameter k of the magnetic sensor on the * axis: *10 、b *10 , k *11 、b *11 ;

[0031]

[0032]

[0033] (7) Place the electronic compass in the working environment, obtain the current ambient temperature T, and the current * axis measurement value M measured by the magnetic sensor *c , the acceleration sensor measures the current * axis measurement value G *c , calculate the magnetic sensor compensation value M of the * axis according to the following formula * , acceleration sensor compensation value G * ;

[0034]

[0035]

[0036] Preferably, in step (1), the method for determining the six test positions in the temperature chamber is based on the coordinate system of the electronic compass and the direction of gravity of the electronic compass, the direction in which the coordinate axis coincides with gravity is the positive direction, and the opposite is the negative direction.

[0037] Preferably, the magnetic field strength of the magnetic field does not exceed 50000 nT.

[0038] Preferably, in step (53), the forward calibration parameters of the acceleration sensor on the *-axis are solved as follows: (8) (9), and the reverse calibration parameters are solved as follows: (10) (11);

[0039]

[0040]

[0041]

[0042]

[0043] Preferably, in step (8), the current ambient temperature T is obtained by a temperature sensor provided in the electronic compass.

[0044] For the six test positions, place the electronic compass on the platform in the incubator, take gravity g as the reference direction, and the compass carrier coordinate system XYZ coincides with the gravity direction as the positive direction, represented by the symbol +, and vice versa as the negative direction, represented by the symbol -. Figure 1 The compass is shown in the Z-direction. Similarly, the other test positions are shown in the following diagrams: Figure 2 As shown, Figure 2 Six test positions are shown, from left to right: x-axis positive direction X+, x-axis negative direction X-, y-axis positive direction Y+, y-axis negative direction Y-, z-axis positive direction Z+, and z-axis negative direction Z-.

[0045] Compared with the prior art, the advantages of the present invention are as follows: a new integrated calibration and compensation method is proposed, in which a changing environmental magnetic field and gravity field are equivalently formed at 6 special positions to act on the sensor of the electronic compass, and the temperature compensation parameter calculation of the acceleration sensor and the magnetic sensor is completed at the same time according to the change characteristics of the sensor sensitive axis measurement value with temperature under the action of different environmental magnetic fields and gravity fields, and the temperature compensation calibration of the sensor of the electronic compass system is directly performed, which greatly improves the accuracy and reliability of temperature compensation, simplifies the calibration steps, and meets the needs of temperature error calibration of the electronic compass sensor in mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of 6 test positions of the present invention;

[0047] Figure 2 This is a comparison chart before and after the acceleration sensor is calibrated;

[0048] Figure 3 It is a flow chart of the present invention;

[0049] Figure 4 This is a graph showing the change of the original measured value of the acceleration at the X-test position with temperature;

[0050] Figure 5 This is a graph showing the change of the original measured value of the X-test position magnetic field with temperature;

[0051] Figure 6 This is the comparison result diagram before and after calibration of x-axis acceleration data;

[0052] Figure 7 This is a comparison diagram of the x-axis magnetic field data before and after calibration.

[0053] In the figure: 1. Temperature box; 2. Electronic compass; 3. Magnet. DETAILED DESCRIPTION

[0054] The present invention will be further described below in conjunction with the accompanying drawings.

[0055] Example 1: See Figures 1 to 3 , an integrated calibration and compensation method for temperature error of an electronic compass 2 sensor, comprising the following steps;

[0056] (1) placing the electronic compass 2 in the incubator 1, determining six test positions in the incubator 1, namely, the positive direction of the X axis, the negative direction of the X axis, the positive direction of the Y axis, the negative direction of the Y axis, the positive direction of the Z axis, and the negative direction of the Z axis, and marking them as the first to the sixth test positions in sequence;

[0057] The electronic compass 2 includes a magnetic sensor and an acceleration sensor. N temperature test points are taken within the working temperature range of the electronic compass 2. A magnet 3 is adsorbed on the outer wall of the temperature box 1. The magnet 3 can form a stable magnetic field inside the temperature box 1.

[0058] (2) placing the electronic compass 2 at the jth test position, where j = 1 to 6;

[0059] (3) Control the temperature box 1 to traverse n temperature points from low to high. At the i-th temperature point, i=1~n, measure the magnetic sensor measurement value M of the magnetic sensor on the x, y, and z axes. *ij , and the acceleration sensor measurement value G on the x, y, and z axes *ij , satisfying the relationship described by the following formula,

[0060] M *ij =m *j ×T i +η *j (1)

[0061]

[0062] Get the coefficient of change of the three-axis magnetic field value with temperature under the test position m *j , the magnetic field offset of the three axes η *j , the coefficient of variation of the acceleration measurement values ​​of the three axes with temperature g *j , acceleration offset of three axes Wherein, * is x, y or z;

[0063] (4) Electronic compass 2 traverses the remaining five test positions in turn and repeats step (3) to obtain m under all test positions. *j , η *j , g *j , Indicates the first to sixth test positions;

[0064] (5) solving the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis, including (51)-(53);

[0065] (51) The relationship between the calibration parameters and the true value of the acceleration sensor is established as follows (3);

[0066]

[0067] In the formula, G *j is the true value of the acceleration sensor on the * axis, k *20 、b *20 , k *21 、b *21 is the calibration parameter of the acceleration sensor;

[0068] (52) Determine the relationship between the six coordinate points;

[0069] When the acceleration sensor's positive axis coincides with the positive direction of gravity, G *j =1, parameter g *+ , They are equal to g in formula (2) in the * axis direction at the current test position. *j and The value of the two coordinate points (1, g *+ ),

[0070] When the acceleration sensor's * axis coincides with gravity in the opposite direction, G *j =-1, parameter g *- , They are equal to g in formula (2) in the * axis direction at the current test position. *j and Get the relationship between the two coordinate points (-1, g *- ),

[0071] When the acceleration sensor's * axis is perpendicular to the direction of gravity, there are four vertical positions, G *j =0, calibration parameter g *0 , Equal to four vertical positions, g in formula (2) *j The average value, The average value of the two coordinate points (0, g *0 ),

[0072] (53) Solve the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis;

[0073] The coordinate relationship (1, g *+ ), (0, g *0 ), Substitute into formula (3) and solve for k *20 、b*20 , k *21 、b *21 , respectively marked as k *20+ 、b *20+ , k *21+ 、b *21+ , as the positive calibration parameter of the acceleration sensor in the * axis;

[0074] The coordinate relationship (-1, g *- ), (0, g *0 ), Substitute the value into formula (3) and solve for k *20 、b *20 , k *21 、b *21 , respectively marked as k *20- 、b *20- , k *21- 、b *21- , as the reverse calibration parameter of the acceleration sensor in the * axis;

[0075] (6) solving the calibration parameters of the magnetic sensor on the * axis, including steps (61)-(62);

[0076] (61) For each measurement position, the true value of the magnetic sensor M *j When the temperature is 25℃, the magnetic sensor measurement value M *ij The mean of M is calculated for each test position. *j ;

[0077] (62) M *j and m in step (3) *j , η *j Substitute into the following equations (4) and (5) to obtain the calibration parameter k of the magnetic sensor on the * axis: *10 、b *10 , k *11 、b *11 ;

[0078]

[0079]

[0080] (7) Place the electronic compass 2 in the working environment, obtain the current ambient temperature T, and the current * axis measurement value M measured by the magnetic sensor *c , the acceleration sensor measures the current * axis measurement value G *c , calculate the magnetic sensor compensation value M of the * axis according to the following formula * , acceleration sensor compensation value G * ;

[0081]

[0082]

[0083] In step (1), the method for determining the six test positions in the incubator 1 is based on the coordinate system of the electronic compass 2 and the gravity direction of the electronic compass 2, the direction in which the coordinate axis coincides with the gravity is the positive direction, and the opposite direction is the negative direction. The magnetic field strength of the magnetic field does not exceed 50000nT.

[0084] In the step (53), the forward calibration parameters of the acceleration sensor on the * axis are solved as follows: (8) (9), and the reverse calibration parameters are solved as follows: (10) (11);

[0085]

[0086]

[0087]

[0088]

[0089] In step (8), the current ambient temperature T is obtained by the temperature sensor provided in the electronic compass 2.

[0090] Example 2: See Figures 1 to 7 Based on Example 1, we conducted actual tests. First, the calibration parameter calculation process is described below using the x-axis as an example:

[0091] (1) Same as step (1) of Example 1, and according to Figure 1 The test system was built;

[0092] (2) Same as step (2) of Example 1. In this example, the electronic compass 2 is placed in the X-direction, and j=2.

[0093] (3) Same as step (3) of Example 1. In this example, n=5 temperature points are set, including -25°C, 0°C, 25°C, 50°C and 75°C, and the temperature box 1 is controlled to traverse these 5 temperature points from low to high.

[0094] Test results such as Figure 4 As shown in the figure, the horizontal axis is temperature and the vertical axis is acceleration. It can be seen that in the X-direction, the acceleration on the x-axis is about 1g, and the acceleration on the other axes is near 0g, which is consistent with the description in the previous text. According to the process of step (3), we can get the expression of the relationship between the acceleration value of the three axes and the temperature change when the compass is in the X-direction, that is, formula (2) above. In this way, we get the coefficient of change of the acceleration measurement value of the three axes in the X-direction with temperature g *j=0.000215, acceleration offset of three axes Since the X-direction is the second test position and is the x-axis, here g *j It can be written as g x2 ; Can be written as

[0095] At this time, the relationship between the three-axis magnetic field value and the temperature change is the formula (1) above. Similarly, in the X-direction, the three-axis magnetic field value changes with temperature coefficient m*j=29.7701, and the three-axis magnetic field offset η *j =-13279.9993.

[0096] (4) Same as step (4) of Example 1, after traversing 6 test positions, we obtain all the temperature change parameters m described in step (4): *j , η *j , g *j , Taking the x-axis as an example, the obtained parameters are shown in Table 1 and Table 2.

[0097] Table 1 X-axis acceleration data with temperature variation coefficient

[0098]

[0099] Table 2 Magnetic field data with temperature variation coefficient

[0100]

[0101]

[0102] In Table 1 and Table 2, # indicates an unknown number. The table only gives the data of the x-axis. The other y-axis and z-axis data are the same and are not shown here.

[0103] (5) The same as step (5) of embodiment 1, we can calculate the 6 coordinate points of the acceleration x-axis as (1, 0.000276), (1, 0.941822), (0, 0.000222), (0, -0.064906), (-1, 0.000215), (-1, -1.059218). Finally, according to step (53), the acceleration sensor forward calibration parameter k in the x-axis direction is obtained. *20+ =0.000054, b *20+ =-0.064906, k *21+ =1.006728, b *21+ =-0.064906 , Reverse calibration parameter k *20- =0.000007, b *20- =0.000222, k*21- =0.994312, b *21- = 0.000222. Thus, we obtain the calibration parameters of the acceleration in the x-axis direction. The forward calibration parameters and reverse calibration parameters of the y-axis and z-axis are the same. After this step, we can obtain the forward calibration parameters and reverse calibration parameters of the acceleration in the x-axis, y-axis, and z-axis respectively.

[0104] (6) Same as step (6) of Example 1; the calibration parameter k of the magnetic sensor in the x-axis direction can be obtained. *10 =-0.003401796, b *10 =0.182894975, k *11 =1.080181167, b *11 =-84.05828702.

[0105] At this point, the calibration parameters of the temperature drift of the electronic compass 2 sensor have been obtained. We write the calibration parameters into the embedded software and design the electronic compass 2 to output the data before and after calibration at the same time to conduct a comparative test of the calibration effect.

[0106] Place the electronic compass 2 flat and still in the incubator 1 environment, set the incubator 1 working temperature to -20 ~ 60 ℃, power on correctly, use the computer to receive the sensor data before and after calibration transmitted by the compass in real time, the test results are as follows Figure 6 Figure 7 shown.

[0107] from Figure 6 It can be seen that o_gx is the original acceleration value of the x-axis before calibration, and t_gx is the acceleration value of the x-axis after calibration. From the analysis of the data, it can be seen that the minimum x-axis acceleration measurement value before calibration is -0.048g, the maximum is -0.014g, the difference is 0.034g, and the slope of the curve is large. After our calibration algorithm, the acceleration calibration value is 0.020g at the minimum and 0.038g at the maximum, the difference is 0.018g, and the curve is more parallel, indicating that the data offset of the acceleration sensor with temperature after calibration is significantly reduced, and the temperature drift effect is weakened.

[0108] from Figure 7It can be seen that o_mx is the original x-axis magnetic field value before calibration, and t_mx is the x-axis magnetic field value after calibration. From the analysis of the data, it can be seen that the magnetic sensor is most affected by temperature. Before calibration, the maximum x-axis magnetic field measurement value is -21793nT and the minimum is -29943nT, which changes by 8150nT in the entire temperature range, and the slope of the entire temperature curve is very large. After our calibration algorithm, the maximum calibration value of the magnetic sensor is -25609nT and the minimum is -26087nT, which only changes by 478nT in the entire temperature range. Compared with the slope of the curve before calibration, it has been greatly improved, indicating that after calibration, the magnetic sensor is less sensitive to temperature and the temperature drift effect is suppressed.

[0109] Therefore, it can be seen that our calibration method has a good effect on improving the temperature error of the electronic compass 2 sensor. In addition, in one test position, we simultaneously collected data from the acceleration and magnetic sensors. After traversing 6 test positions, all calibration parameters can be solved. Therefore, our algorithm has also improved efficiency to a certain extent. It has indeed improved the efficiency and accuracy of the electronic compass 2 sensor measurement value.

[0110] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An integrated calibration and compensation method for temperature error of an electronic compass sensor, characterized in that: The steps include: (1) Place the electronic compass in a temperature chamber, determine six test positions in the temperature chamber, namely, the positive direction of the x-axis, the negative direction of the x-axis, the positive direction of the y-axis, the negative direction of the y-axis, the positive direction of the z-axis, and the negative direction of the z-axis, and mark them as the first to the sixth test positions in sequence; The electronic compass includes a magnetic sensor and an acceleration sensor. N temperature test points are taken within the working temperature range of the electronic compass. A magnet is adsorbed on the outer wall of the temperature box. The magnet can form a stable magnetic field inside the temperature box. (2) Place the electronic compass at the jth test position, where j = 1 to 6; (3) Control the temperature box to traverse n temperature points from low to high. At the i-th temperature point T i At i = 1~n, measure the magnetic sensor measurement value M on the x, y, and z axes *ij , and the acceleration sensor measurement value G on the x, y, and z axes *ij , satisfying the following formula relationship, M *ij =m *j ×T i + the *j (1) Get the coefficient of change of the three-axis magnetic field value with temperature under the test position m *j , the magnetic field offset of the three axes η *j , the coefficient of variation of the acceleration measurement values ​​of the three axes with temperature g *j , acceleration offset of three axes Wherein, * is x, y or z; (4) The electronic compass traverses the remaining five test positions in turn, repeating step (3) to obtain m under all test positions. *j , η *j , g *j , (5) solving the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis, including (51)-(53); (51) The relationship between the calibration parameters and the true value of the acceleration sensor is established as follows (3); In the formula, G *j is the true value of the acceleration sensor on the * axis, k *20 , b *20 , k *21 , b *21 is the calibration parameter of the acceleration sensor; (52) Determine the relationship between the six coordinate points; When the acceleration sensor's positive axis coincides with the positive direction of gravity, G *j =1, parameter g *+ , They are equal to g in formula (2) in the current test position and in the * axis direction. *j and The value of the two coordinate points (1, g *+ ), When the acceleration sensor's * axis coincides with gravity in the opposite direction, G *j =-1, parameter g *- , They are equal to g in formula (2) in the current test position and in the * axis direction. *j and Get the relationship between the two coordinate points (-1, g *- ), When the acceleration sensor's * axis is perpendicular to the direction of gravity, there are four vertical positions, G *j =0, calibration parameter g *0 , Equal to g in formula (2) at four vertical positions *j The average value, The average value of the two coordinate points (0, g *0 ), (53) Solve the forward calibration parameters and reverse calibration parameters of the acceleration sensor on the * axis; The coordinate relationship (1, g *+ ), (0, g *0 ), Substitute into formula (3) and solve for k *20 , b *20 , k *21 , b *21 , respectively marked as k *20+ , b *20+ , k *21+ , b *21+ , as the positive calibration parameter of the acceleration sensor in the * axis; The coordinate relationship (-1, g *- ), (0, g *0 ), Substitute the value into formula (3) and solve for k *20 , b *20 , k *21 , b *21 , respectively marked as k *20- , b *20- , k *21- , b *21- , as the reverse calibration parameter of the acceleration sensor in the * axis; (6) solving the calibration parameters of the magnetic sensor on the * axis, including (61)-(62); (61) For each measurement position, the true value of the magnetic sensor M *j When the temperature is 25℃, the magnetic sensor measurement value M *ij The mean of M is calculated for each test position. *j ; (62) M *j and m in step (3) *j , η *j Substitute into the following equations (4) and (5) to obtain the calibration parameter k of the magnetic sensor on the * axis: *10 , b *10 , k *11 , b *11 ; (7) Place the electronic compass in the working environment, obtain the current ambient temperature T, and the current * axis measurement value M measured by the magnetic sensor *c , the acceleration sensor measures the current * axis measurement value G *c , calculate the magnetic sensor compensation value M of the * axis according to the following formula * , acceleration sensor compensation value G * ; In the step (53), the forward calibration parameters of the acceleration sensor on the *-axis are solved as follows: (8) (9), and the reverse calibration parameters are solved as follows: (10) (11); 2. The electronic compass sensor temperature error integrated calibration and compensation method according to claim 1, characterized in that: In step (1), the method for determining the six test positions in the temperature chamber is based on the coordinate system of the electronic compass and the gravity direction of the electronic compass. The direction in which the coordinate axis coincides with the gravity is the positive direction, and the opposite direction is the negative direction.

3. The electronic compass sensor temperature error integrated calibration and compensation method according to claim 1, characterized in that: The magnetic field strength of the magnetic field does not exceed 50000nT.

4. The electronic compass sensor temperature error integrated calibration and compensation method according to claim 1, characterized in that: In step (8), the current ambient temperature T is obtained by the temperature sensor provided in the electronic compass.

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