Method, system and equipment for correcting magnetic field and orthogonality of sensor and medium

Abstract

The invention discloses a sensor magnetic field and orthogonality correction method, system and device and a medium, and relates to the technical field of sensor magnetic field correction, and the correction method comprises the steps: determining an included angle between every two measurement axes of a three-axis geomagnetic sensor and the zero offset data of each measurement axis; acquiring original magnetic field data of each measuring axis of the three-axis geomagnetic sensor; based on the original magnetic field data, an error correction coefficient is calculated by adopting a least square ellipsoid method; calculating the corrected magnetic field intensity of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero offset data and the error correction coefficient; calculating the final magnetic field intensity of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field intensity and the included angle between every two measuring axes; according to the three-axis geomagnetic sensor orthogonality correction method, the total magnetic field dynamic noise of the three-axis geomagnetic sensor can be reduced, and the use precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor magnetic field correction, and in particular to a sensor magnetic field and orthogonality correction method, system, equipment and medium. Background Art

[0002] Since the measuring axes of the three-axis geomagnetic sensor cannot be guaranteed to be completely orthogonal to each other during the manufacturing process, there is a non-orthogonality error between the measuring axes of the three-axis geomagnetic sensor. The non-orthogonality angle model is as follows: Figure 1 As shown. Figure 1 In the figure, X0, Y0, and Z0 represent the vector orientation of the measuring axis of the three-axis geomagnetic sensor in the ideal orthogonal model, that is, the ideal vector orientation; X, Y, and Z represent the actual vector orientation of the measuring axis of the three-axis geomagnetic sensor; it is assumed that the Z axis of the three-axis geomagnetic sensor coincides with the Z0 axis in the orthogonal model, and the XOZ plane coincides with the X0OZ0 plane; α is the angle between the XOZ plane and the axis X0; β is the angle between the projection of the Y axis on the X0OY0 plane and the axis Y0; γ is the angle between the Y axis and the X0OY0 plane.

[0003] In order to ensure that the accuracy of the digital three-axis geomagnetic sensor meets the use requirements, the total magnetic field data correction algorithm of the digital three-axis geomagnetic sensor can effectively correct the orthogonality error of the three-axis probe within 1 degree before application. However, it cannot effectively compensate for the orthogonal manufacturing error greater than 1 degree, resulting in a large total magnetic field dynamic noise of the three-axis geomagnetic sensor, which affects the use of the three-axis geomagnetic sensor. Summary of the invention

[0004] The purpose of the present invention is to provide a method and system for correcting the magnetic field and orthogonality of a three-axis geomagnetic sensor, which can effectively compensate for the orthogonality manufacturing error of the three-axis geomagnetic sensor greater than 1 degree, reduce the total magnetic field dynamic noise of the three-axis geomagnetic sensor, and improve the use accuracy.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A method for correcting a sensor magnetic field and orthogonality, comprising:

[0007] Determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis; the measuring axes include: X-axis, Y-axis and Z-axis;

[0008] Acquire raw magnetic field data of each measuring axis of the three-axis geomagnetic sensor; the raw magnetic field data includes magnetic field strength of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated;

[0009] Based on the original magnetic field data, the error correction coefficient is calculated using the least squares ellipsoid method;

[0010] Calculate the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient;

[0011] Calculating the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes;

[0012] The orthogonality of the three-axis geomagnetic sensor is corrected according to the final magnetic field strength.

[0013] Optionally, after correcting the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength, the method further includes:

[0014] Determine an initial output value, a first output value, and a second output value; the initial output value is the magnetic field strength output by each measuring axis of the three-axis geomagnetic sensor under zero magnetic field, the first output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in a positive direction of the X-axis of the three-axis geomagnetic sensor, and the second output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in a positive direction of the Y-axis of the three-axis geomagnetic sensor; the first preset magnetic field strength is 90% of the measuring range of the three-axis geomagnetic sensor;

[0015] The corrected angles of each measuring axis of the three-axis geomagnetic sensor are calculated according to the initial output value, the first output value and the second output value; the calculation formula is as follows:

[0016]

[0017]

[0018]

[0019] Wherein, θ′ is the angle of the XZ axis after the orthogonality correction of the three-axis geomagnetic sensor, is the angle of the YZ axis after the orthogonality correction of the three-axis geomagnetic sensor, η′ is the angle of the XY axis after the orthogonality correction of the three-axis geomagnetic sensor, BZS0, BXS0, BYS0 are the Z-axis output value, X-axis output value, and Y-axis output value in the initial output value, BZS1, BXS1, BYS1 are the Z-axis output value, X-axis output value, and Y-axis output value in the first output value, BZS2, BYS2 are the Z-axis output value and Y-axis output value in the second output value;

[0020] According to the angle between every two measuring axes and the corrected angle, it is determined whether the orthogonality of the three-axis geomagnetic sensor reaches a set correction accuracy.

[0021] Optionally, determining the angle between every two measuring axes of the three-axis geomagnetic sensor specifically includes:

[0022] The three-axis non-magnetic turntable is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor is fixed at the center of the support platform of the three-axis non-magnetic turntable, the horizontal plane of the support platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the support platform; wherein the XY plane of the three-axis geomagnetic sensor is the plane formed by the X-axis and the Y-axis;

[0023] Applying a second preset magnetic field strength in the positive direction of the X-axis of the three-axis magnetic field dynamic coil compensation system, adjusting the support platform so that the magnetic field strength in the X-axis direction of the three-axis geomagnetic sensor is the second preset magnetic field strength, and determining the starting angle of the Z-axis of the three-axis geomagnetic sensor;

[0024] Adjusting the support platform so that the magnetic field intensity in the Z-axis direction of the three-axis geomagnetic sensor is a second preset magnetic field intensity, and determining the end point angle of the Z-axis of the three-axis geomagnetic sensor;

[0025] The starting angle and the end angle are subtracted to calculate the angle between the X and Z axes of the three-axis geomagnetic sensor;

[0026] Repeat the above steps to determine the angle between the XY axis of the three-axis geomagnetic sensor and the angle between the YZ axis of the three-axis geomagnetic sensor.

[0027] Optionally, obtaining the original magnetic field data of each measuring axis of the three-axis geomagnetic sensor specifically includes:

[0028] The three-axis non-magnetic turntable is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor is fixed at the center of the support platform of the three-axis non-magnetic turntable, the horizontal plane of the support platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the support platform; wherein the XY plane of the three-axis geomagnetic sensor is the plane formed by the X-axis and the Y-axis;

[0029] Taking the horizontal center of the support platform as the origin, construct X C Y C Z C Coordinate system;

[0030] Each time the support platform rotates once, the rotation angle of the three-axis geomagnetic sensor is changed, and the magnetic field strength of each measuring axis at each rotation angle is measured; the process of the support platform rotating once is: around Y C The support platform is rotated by a first preset angle and around the Z axis C The shaft rotates the support platform by a second preset angle.

[0031] Optionally, the calculation formula of the corrected magnetic field strength is as follows:

[0032]

[0033] in, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, k is the Z-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, x is the X-axis sensitivity coefficient of the three-axis geomagnetic sensor, k y is the Y-axis sensitivity coefficient of the three-axis geomagnetic sensor, k z is the Z-axis sensitivity coefficient of the three-axis geomagnetic sensor, α, β, and γ are the orthogonal angles between the measurement axes of the three-axis geomagnetic sensor, and B 0x is the zero bias of the X axis of the three-axis geomagnetic sensor, B 0y is the zero bias of the Y axis of the three-axis geomagnetic sensor, B 0z is the zero bias of the Z axis of the three-axis geomagnetic sensor, is the uncorrected X-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Y-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Z-axis magnetic field strength of the three-axis geomagnetic sensor.

[0034] Optionally, the calculation formula of the final magnetic field strength is as follows:

[0035]

[0036]

[0037]

[0038] in, is the X-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, is the Y-axis magnetic field strength after orthogonality correction of the three-axis geomagnetic sensor, is the Z-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, θ is the XZ-axis angle of the three-axis geomagnetic sensor, is the YZ axis angle of the three-axis geomagnetic sensor, η is the XY axis angle of the three-axis geomagnetic sensor, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, The Z-axis magnetic field intensity of the three-axis geomagnetic sensor is corrected by the least squares ellipsoid method.

[0039] To achieve the above object, the present invention provides the following solutions:

[0040] A sensor magnetic field and orthogonality correction system, comprising:

[0041] A zero bias data module is used to determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis; the measuring axes include: an X-axis, a Y-axis and a Z-axis;

[0042] The original magnetic field data module is used to obtain the original magnetic field data of each measuring axis of the three-axis geomagnetic sensor; the original magnetic field data includes the magnetic field strength of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated;

[0043] An error correction module, used to calculate an error correction coefficient based on the original magnetic field data using a least squares ellipsoid method;

[0044] A magnetic field strength calculation module, used to calculate the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient;

[0045] A final magnetic field strength module, used to calculate the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes;

[0046] The orthogonality correction module is used to correct the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength.

[0047] An electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the above-mentioned sensor magnetic field and orthogonality correction method.

[0048] A computer-readable storage medium stores a computer program, which implements the above-mentioned sensor magnetic field and orthogonality correction method when executed by a processor.

[0049] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0050] The present invention discloses a correction method, system, device and medium for the magnetic field and orthogonality of a sensor. The correction method calculates an error correction coefficient by using the least squares ellipsoid method, and calculates the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the error correction coefficient to achieve a preliminary correction of the three-axis geomagnetic sensor; then calculates the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between each two measuring axes; and corrects the magnetic field and orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength to achieve a secondary correction of the three-axis geomagnetic sensor. The present invention can reduce the total magnetic field dynamic noise of the three-axis geomagnetic sensor and improve the accuracy of use.

[0051] The present invention establishes an error correction compensation and orthogonality compensation model, combines the least squares ellipse algorithm and the orthogonality quadratic correction algorithm, and compensates the total magnetic field error, thereby greatly reducing the error and noise of the total magnetic field, solving the problem of large dynamic noise of the total magnetic field of the three-axis geomagnetic sensor, and improving the use accuracy of the three-axis geomagnetic sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A schematic diagram showing the comparison between a three-axis geomagnetic sensor orthogonality model and an ideal model;

[0054] Figure 2 A schematic flow chart of a method for correcting a sensor magnetic field and orthogonality according to the present invention;

[0055] Figure 3 A top view of the modified model of the three-axis geomagnetic sensor of the present invention;

[0056] Figure 4 It is a side view of the modified model of the three-axis geomagnetic sensor of the present invention;

[0057] Figure 5 The figure is a schematic diagram of the calculation process of a method for correcting the magnetic field and orthogonality of a sensor according to the present invention. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] The purpose of the present invention is to provide a method, system, device and medium for correcting the magnetic field and orthogonality of a sensor. By combining the least squares ellipse algorithm and the orthogonality quadratic correction algorithm, the total magnetic field error is compensated and corrected, which greatly reduces the error and noise of the total magnetic field and solves the problem of large dynamic noise of the total magnetic field of a digital three-axis geomagnetic sensor.

[0060] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0061] like Figure 1 As shown, the present invention discloses a method for correcting the magnetic field and orthogonality of a sensor, comprising:

[0062] S1: Determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis.

[0063] Wherein, the measuring axes include: X-axis, Y-axis and Z-axis.

[0064] During the execution of S1, the angle between every two measuring axes of the three-axis geomagnetic sensor is determined, specifically including:

[0065] S11: Reference Figure 2 and Figure 3 , fix the three-axis non-magnetic turntable in the central area of ​​the three-axis magnetic field dynamic coil compensation system, fix the three-axis geomagnetic sensor at the center of the supporting platform of the three-axis non-magnetic turntable, the horizontal plane of the supporting platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the supporting platform.

[0066] The XY plane of the three-axis geomagnetic sensor is a plane formed by the X-axis and the Y-axis.

[0067] S12: Apply a second preset magnetic field strength in the positive direction of the X-axis of the three-axis magnetic field dynamic coil compensation system, adjust the support platform so that the magnetic field strength in the X-axis direction of the three-axis geomagnetic sensor is the second preset magnetic field strength, and determine the starting angle of the Z-axis of the three-axis geomagnetic sensor.

[0068] S13: Adjust the support platform so that the magnetic field intensity in the Z-axis direction of the three-axis geomagnetic sensor is the second preset magnetic field intensity, and determine the end point angle of the Z-axis of the three-axis geomagnetic sensor. That is, by rotating the support platform, the magnetic field intensity value of the Z-axis of the three-axis geomagnetic sensor read is the same as the value of the second preset magnetic field intensity; when the support platform is rotated so that the magnetic field intensity in the Z-axis direction of the three-axis geomagnetic sensor is the second preset magnetic field intensity, determine that the current angle of the measuring axis Z-axis is its end point angle.

[0069] S14: Subtract the starting angle from the end angle to calculate the included angle of the XZ axes of the three-axis geomagnetic sensor.

[0070] Repeat the above steps to determine the angle between the XY axis of the three-axis geomagnetic sensor and the angle between the YZ axis of the three-axis geomagnetic sensor.

[0071] Specifically, the three-axis non-magnetic turntable 2 is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor 1 is fixed in the center of the support platform of the three-axis non-magnetic turntable 2. The horizontal plane of the support platform of the three-axis non-magnetic turntable 2 coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor 1 is perpendicular to the horizontal plane of the support platform of the three-axis non-magnetic turntable. A magnetic field strength of 90% of the full scale is applied to the X direction of the three-axis geomagnetic sensor 1, and the three-axis non-magnetic turntable 2 is adjusted so that the X axis of the three-axis geomagnetic sensor is consistent with the magnetic field direction, and the number of engraved discs on the Z axis turntable is read as the Z axis starting point angle XZ of the three-axis geomagnetic sensor. J1 Then rotate the three-axis non-magnetic turntable 2 around the Y axis by 90° until the magnetic field strength of the Z axis of the three-axis geomagnetic sensor reaches 90% of the full scale. Read the dial number of the Z axis turntable at this time as the end point angle XZ of the Z axis of the three-axis geomagnetic sensor. J2 , XZ J1 and XZ J2 The angle difference is the angle between the X and Z axes.

[0072] Similarly, we can get the angle between the YZ axis and the angle between the XY axis.

[0073] S2: Acquire the original magnetic field data of each measuring axis of the three-axis geomagnetic sensor.

[0074] The original magnetic field data includes magnetic field strengths of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated.

[0075] Among them, S2 specifically includes:

[0076] The three-axis non-magnetic turntable is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor is fixed at the center of the supporting platform of the three-axis non-magnetic turntable. The horizontal plane of the supporting platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the supporting platform; wherein the XY plane of the three-axis geomagnetic sensor is the plane formed by the X-axis and the Y-axis.

[0077] Taking the horizontal center of the support platform as the origin, construct X C Y C Z C Coordinate system.

[0078] Each time the support platform rotates once, the rotation angle of the three-axis geomagnetic sensor is changed, and the magnetic field strength of each measuring axis at each rotation angle is measured; the process of the support platform rotating once is: around Y C The support platform is rotated by a first preset angle and around the Z axis C The shaft rotates the support platform by a second preset angle.

[0079] The following description is made by taking the first preset angle as 30° and the second preset angle as 60° as an example.

[0080] Reference Figure 2 and Figure 3 The supporting platform rotates 30° around the Y-axis of the three-axis non-magnetic turntable. After being fixed at this position, the supporting platform starts to rotate 60°, 120°, 180°, 240°, 300°, and 360° around the Z-axis of the three-axis non-magnetic turntable, and collects magnetic field strength data at each angle.

[0081] Afterwards, the support platform continues to rotate 30° around the Y-axis of the three-axis non-magnetic turntable after rotating 30°, which is 60° relative to the initial point. After being fixed at this position, the support platform begins to rotate 60°, 120°, 180°, 240°, 300°, and 360° around the Z-axis of the three-axis non-magnetic turntable, and collects magnetic field strength data of the three-axis geomagnetic sensor at various angles.

[0082] The same process is repeated until the support platform rotates to the origin around the Y-axis of the three-axis non-magnetic turntable, and the magnetic field intensity data collected at each angle is recorded as the original magnetic field data for subsequent calculations.

[0083] S3: Based on the original magnetic field data, the error correction coefficient is calculated using the least squares ellipsoid method.

[0084] Specifically, because the constant magnetic field distribution can be approximated as an ellipsoidal distribution, the measurement of the magnetic field strength at each position in the constant magnetic field can be equivalent to fitting the ellipsoidal surface where the current position is located. The magnetic field strength at the current position is corrected by fitting an ellipse based on the magnetic field data at each position on the ellipsoidal surface where the current position is located using the least squares method, and the corrected magnetic field strength at the current position is calculated.

[0085] The ellipsoid fitting formula is as follows:

[0086] F(x,y,z)=ax 2 +by 2 +cz 2 +2dxy+2exz+2fyz+2px+2qy+2rz-1=0.

[0087] Among them, F(x,y,z) represents the ellipsoidal surface function relationship, x, y, z represent unknown quantities, and a represents x 2 The constant of the term, b represents y 2 The constant of the term, c represents z 2 The constant of the term, d represents the constant of the xy term, e represents the constant of the xz term, f represents the constant of the yz term, p represents the constant of the x term, q represents the constant of the y term, and r represents the constant of the z term.

[0088] When fitting an ellipsoid surface, the minimum sum of the squares of the algebraic distances from the measured data to the ellipsoid surface is generally used as the criterion, that is, min||F(x,y,z)|| 2 Therefore, the original magnetic field data, that is, the magnetic field intensity data of each measuring axis of the three-axis geomagnetic sensor corresponding to the unknown quantity x, y, z is substituted into min||F(x,y,z)|| 2 , the error correction coefficient of each measuring axis is determined by finding the extreme values ​​of the unknown quantities x, y, and z respectively.

[0089] S4: Calculating the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient.

[0090] Reference Figure 5 , the calculation formula of the corrected magnetic field strength is as follows:

[0091]

[0092] in, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, k is the Z-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, xis the X-axis sensitivity coefficient of the three-axis geomagnetic sensor, k y is the Y-axis sensitivity coefficient of the three-axis geomagnetic sensor, k z is the Z-axis sensitivity coefficient of the three-axis geomagnetic sensor, α, β, and γ are the orthogonal angles between the measurement axes of the three-axis geomagnetic sensor, and B 0x is the zero bias of the X axis of the three-axis geomagnetic sensor, B 0y is the zero bias of the Y axis of the three-axis geomagnetic sensor, B 0z is the zero bias of the Z axis of the three-axis geomagnetic sensor, is the uncorrected X-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Y-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Z-axis magnetic field strength of the three-axis geomagnetic sensor.

[0093] The zero bias data of the three-axis geomagnetic sensor can be obtained by determining the positive and negative directions of the X-axis in the zero magnetic field (the probe direction of the X-axis changes by 180°) and outputting the magnetic field strength. The sum of the positive and negative magnetic field strengths divided by 2 is the zero bias of the measurement axis. The same is true for the Y-axis and Z-axis.

[0094] S5: Calculating the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes.

[0095] Reference Figure 5 , the calculation formula of the final magnetic field strength is as follows:

[0096]

[0097]

[0098]

[0099] in, is the X-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, is the Y-axis magnetic field strength after orthogonality correction of the three-axis geomagnetic sensor, is the Z-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, θ is the XZ-axis angle of the three-axis geomagnetic sensor, is the YZ axis angle of the three-axis geomagnetic sensor, η is the XY axis angle of the three-axis geomagnetic sensor, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, The Z-axis magnetic field intensity of the three-axis geomagnetic sensor is corrected by the least squares ellipsoid method.

[0100] S6: Correcting the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength.

[0101] After the above-mentioned sensor magnetic field and orthogonality correction method provided by the present invention is executed, and the three-axis geomagnetic sensor is corrected, that is, after the orthogonality of the three-axis geomagnetic sensor is corrected according to the final magnetic field strength, the following steps are also included to verify the correction accuracy of the three-axis geomagnetic sensor.

[0102] S7: Determine an initial output value, a first output value, and a second output value.

[0103] The initial output value is the magnetic field strength output by each measuring axis of the three-axis geomagnetic sensor under zero magnetic field, the first output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in the positive direction of the X-axis of the three-axis geomagnetic sensor, and the second output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in the positive direction of the Y-axis of the three-axis geomagnetic sensor.

[0104] The first preset magnetic field strength is 90% of the measuring range of the three-axis geomagnetic sensor.

[0105] S8: Calculate and obtain the corrected angle of each measuring axis of the three-axis geomagnetic sensor according to the initial output value, the first output value, and the second output value.

[0106] The corrected angle calculation formula of each measuring axis of the three-axis geomagnetic sensor is as follows:

[0107]

[0108]

[0109]

[0110] Wherein, θ′ is the angle of the XZ axis after the orthogonality correction of the three-axis geomagnetic sensor, is the angle of the YZ axis after the orthogonality of the three-axis geomagnetic sensor is corrected, η′ is the angle of the XY axis after the orthogonality of the three-axis geomagnetic sensor is corrected, BZS0, BXS0, BYS0 are the Z-axis output value, X-axis output value, and Y-axis output value in the initial output value, BZS1, BXS1, BYS1 are the Z-axis output value, X-axis output value, and Y-axis output value in the first output value, BZS2, BYS2 are the Z-axis output value and Y-axis output value in the second output value.

[0111] S9: Determine whether the orthogonality of the three-axis geomagnetic sensor reaches a set correction accuracy based on the angle between every two measuring axes and the corrected angle.

[0112] The present invention also provides a sensor magnetic field and orthogonality correction system, including: a zero bias data module, an original magnetic field data module, an error correction module, a magnetic field strength calculation module, a final magnetic field strength module and an orthogonality correction module.

[0113] The zero bias data module is used to determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis; the measuring axes include: X-axis, Y-axis and Z-axis.

[0114] The raw magnetic field data module is used to obtain the raw magnetic field data of each measuring axis of the three-axis geomagnetic sensor.

[0115] The original magnetic field data includes magnetic field strengths of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated.

[0116] The error correction module is used to calculate the error correction coefficient based on the original magnetic field data by using the least squares ellipsoid method.

[0117] The magnetic field strength calculation module is used to calculate the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient.

[0118] The final magnetic field strength module is used to calculate the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes.

[0119] The orthogonality correction module is used to correct the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength.

[0120] Furthermore, the present invention also provides an electronic device, which may include: a processor, a communication interface, a memory, a graphics card and a communication bus. The processor, the communication interface and the memory communicate with each other through the communication bus. The processor may call a computer program in the memory to execute the crop distribution prediction method. The graphics card may accelerate the calculation to perform a fast calculation of the sensor magnetic field and the correction of the orthogonality.

[0121] The present invention also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it implements the sensor magnetic field and orthogonality correction method described in the embodiment of the present invention. When the computer program in the above-mentioned memory is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-transitory computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory, random access memory, disk or optical disk and other media that can store program codes.

[0122] The sensor magnetic field and orthogonality correction method, system, device and medium disclosed in the present invention correct the data collected by the probes of each measuring axis of the three-axis geomagnetic sensor based on the least squares ellipsoid correction compensation algorithm formula and the orthogonal angle quadratic correction algorithm formula to obtain a high-precision three-axis magnetic induction intensity, thereby making up for the problem of insufficient accuracy of a single least squares ellipsoid correction compensation algorithm. The correction method of the present invention can effectively compensate for the orthogonal error between the three measuring axes of the three-axis geomagnetic sensor, achieve an orthogonal error accuracy within 0.5 degrees, and improve the use accuracy of the three-axis geomagnetic sensor.

[0123] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0124] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for correcting the magnetic field and orthogonality of a sensor, characterized in that: include: Determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis; The measuring axes include: an X-axis, a Y-axis and a Z-axis; Acquire raw magnetic field data of each measuring axis of the three-axis geomagnetic sensor; the raw magnetic field data includes magnetic field strength of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated; Based on the original magnetic field data, the error correction coefficient is calculated using the least squares ellipsoid method; Calculate the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient; Calculating the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes; The orthogonality of the three-axis geomagnetic sensor is corrected according to the final magnetic field strength.

2. The method for correcting the sensor magnetic field and orthogonality according to claim 1, characterized in that: After correcting the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength, the method further includes: Determine an initial output value, a first output value, and a second output value; the initial output value is the magnetic field strength output by each measuring axis of the three-axis geomagnetic sensor under zero magnetic field, the first output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in a positive direction of the X-axis of the three-axis geomagnetic sensor, and the second output value is the magnetic field strength output by each measuring axis after a first preset magnetic field strength is applied in a positive direction of the Y-axis of the three-axis geomagnetic sensor; the first preset magnetic field strength is 90% of the measuring range of the three-axis geomagnetic sensor; The corrected angles of each measuring axis of the three-axis geomagnetic sensor are calculated according to the initial output value, the first output value and the second output value; the calculation formula is as follows: Wherein, θ′ is the angle of the XZ axis after the orthogonality correction of the three-axis geomagnetic sensor, is the angle of the YZ axis after the orthogonality correction of the three-axis geomagnetic sensor, η′ is the angle of the XY axis after the orthogonality correction of the three-axis geomagnetic sensor, BZS0, BXS0, BYS0 are the Z-axis output value, X-axis output value, and Y-axis output value in the initial output value, BZS1, BXS1, BYS1 are the Z-axis output value, X-axis output value, and Y-axis output value in the first output value, BZS2, BYS2 are the Z-axis output value and Y-axis output value in the second output value; According to the angle between every two measuring axes and the corrected angle, it is determined whether the orthogonality of the three-axis geomagnetic sensor reaches the set correction accuracy.

3. The method for correcting the sensor magnetic field and orthogonality according to claim 1, characterized in that: Determine the angle between each two measuring axes of the three-axis geomagnetic sensor, specifically including: The three-axis non-magnetic turntable is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor is fixed at the center of the support platform of the three-axis non-magnetic turntable, the horizontal plane of the support platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the support platform; wherein the XY plane of the three-axis geomagnetic sensor is the plane formed by the X-axis and the Y-axis; Applying a second preset magnetic field strength in the positive direction of the X-axis of the three-axis magnetic field dynamic coil compensation system, adjusting the support platform so that the magnetic field strength in the X-axis direction of the three-axis geomagnetic sensor is the second preset magnetic field strength, and determining the starting angle of the Z-axis of the three-axis geomagnetic sensor; Adjusting the support platform so that the magnetic field strength in the Z-axis direction of the three-axis geomagnetic sensor is a second preset magnetic field strength, and determining the end point angle of the Z-axis of the three-axis geomagnetic sensor; The starting angle and the end angle are subtracted to calculate the angle between the X and Z axes of the three-axis geomagnetic sensor; Repeat the above steps to determine the angle between the XY axis of the three-axis geomagnetic sensor and the angle between the YZ axis of the three-axis geomagnetic sensor.

4. The method for correcting the sensor magnetic field and orthogonality according to claim 1, characterized in that: Acquiring the original magnetic field data of each measuring axis of the three-axis geomagnetic sensor specifically includes: The three-axis non-magnetic turntable is fixed in the central area of ​​the three-axis magnetic field dynamic coil compensation system, and the three-axis geomagnetic sensor is fixed at the center of the support platform of the three-axis non-magnetic turntable, the horizontal plane of the support platform coincides with the XY plane of the three-axis geomagnetic sensor, and the Z axis of the three-axis geomagnetic sensor is perpendicular to the horizontal plane of the support platform; wherein the XY plane of the three-axis geomagnetic sensor is the plane formed by the X-axis and the Y-axis; Taking the horizontal center of the support platform as the origin, construct X C Y C Z C Coordinate system; Each time the support platform rotates once, the rotation angle of the three-axis geomagnetic sensor is changed, and the magnetic field strength of each measuring axis at each rotation angle is measured; the process of the support platform rotating once is: around Y C The support platform is rotated by a first preset angle and around the Z axis C The shaft rotates the support platform by a second preset angle.

5. The method for correcting the sensor magnetic field and orthogonality according to claim 1, characterized in that: The calculation formula of the corrected magnetic field strength is as follows: in, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, k is the Z-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, x is the X-axis sensitivity coefficient of the three-axis geomagnetic sensor, k y is the Y-axis sensitivity coefficient of the three-axis geomagnetic sensor, k z is the Z-axis sensitivity coefficient of the three-axis geomagnetic sensor, α, β, and γ are the orthogonal angles between the measurement axes of the three-axis geomagnetic sensor, and B 0x is the zero bias of the X axis of the three-axis geomagnetic sensor, B 0y is the zero bias of the Y axis of the three-axis geomagnetic sensor, B 0z is the zero bias of the Z axis of the three-axis geomagnetic sensor, is the uncorrected X-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Y-axis magnetic field intensity of the three-axis geomagnetic sensor, is the uncorrected Z-axis magnetic field strength of the three-axis geomagnetic sensor.

6. The method for correcting the sensor magnetic field and orthogonality according to claim 1, characterized in that: The calculation formula of the final magnetic field strength is as follows: in, is the X-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, is the Y-axis magnetic field strength after orthogonality correction of the three-axis geomagnetic sensor, is the Z-axis magnetic field intensity after orthogonality correction of the three-axis geomagnetic sensor, θ is the XZ-axis angle of the three-axis geomagnetic sensor, is the YZ axis angle of the three-axis geomagnetic sensor, η is the XY axis angle of the three-axis geomagnetic sensor, is the X-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, is the Y-axis magnetic field intensity of the three-axis geomagnetic sensor after correction by the least squares ellipsoid method, The Z-axis magnetic field intensity of the three-axis geomagnetic sensor is corrected by the least squares ellipsoid method.

7. A sensor magnetic field and orthogonality correction system, characterized in that: include: A zero bias data module is used to determine the angle between every two measuring axes of the three-axis geomagnetic sensor and the zero bias data of each measuring axis; The measuring axes include: an X-axis, a Y-axis and a Z-axis; The original magnetic field data module is used to obtain the original magnetic field data of each measuring axis of the three-axis geomagnetic sensor; the original magnetic field data includes the magnetic field strength of each measuring axis of the three-axis geomagnetic sensor at different rotation angles when the three-axis geomagnetic sensor is rotated; An error correction module, used to calculate an error correction coefficient based on the original magnetic field data using a least squares ellipsoid method; A magnetic field strength calculation module, used to calculate the corrected magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the original magnetic field data, the zero bias data and the error correction coefficient; A final magnetic field strength module, used to calculate the final magnetic field strength of each measuring axis of the three-axis geomagnetic sensor according to the corrected magnetic field strength and the angle between every two measuring axes; The orthogonality correction module is used to correct the orthogonality of the three-axis geomagnetic sensor according to the final magnetic field strength.

8. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the sensor magnetic field and orthogonality correction method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The device stores a computer program, which, when executed by a processor, implements the method for correcting the sensor magnetic field and orthogonality as claimed in any one of claims 1 to 6.

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