Bionic polarized light compass and micro-inertia auxiliary triaxial magnetometer calibration method and device

Abstract

The invention provides a bionic polarized light compass and micro-inertia assisted triaxial magnetometer calibration method and device, and the method comprises the steps: employing course angle information provided by a bionic polarized light compass to assist a micro-inertia sensor to complete initial alignment, and achieving the quick obtaining of an initial attitude matrix; a horizontal attitude angle is calculated by attitude change and acceleration obtained by the micro inertial sensor finishing initial alignment, horizontal attitude information is provided for the bionic polarized light compass and the three-axis magnetometer, and normal use of the bionic polarized light compass and the three-axis magnetometer under an inclined condition can be ensured. And establishing a polarized light course assisted triaxial magnetometer calibration model, determining a compensation coefficient according to the polarized light course and a measured value of the triaxial magnetometer, and performing error compensation to realize calibration of the triaxial magnetometer. Under the condition that ellipse calibration is not carried out, geomagnetic course calibration can still be realized, so that the applicability of the integrated navigation system in different application environments is improved.

Description

Technical Field

[0001] The present invention mainly relates to the field of intelligent navigation technology, in particular to a calibration method and device for a bionic polarized light compass and a micro-inertial auxiliary three-axis magnetometer. Background Art

[0002] At present, unmanned platforms are widely used in many fields such as emergency rescue, industrial production, reconnaissance and detection, and transportation. Obtaining the position and heading of unmanned platforms is necessary for performing tasks such as autonomous navigation, obstacle avoidance, and path planning.

[0003] In navigation problems, heading information is a key factor in determining the movement path of the carrier. Whether it is a satellite-based navigation system or an indoor navigation system, determining the direction of the carrier is crucial to accurately calculate its changes and movement trajectory. In path planning, if the direction of the carrier can be accurately known, a practical movement route can be formulated. At the same time, orientation information helps to judge the movement state of the carrier under complex movement conditions. When fused with other sensors, heading information helps to eliminate error accumulation and improve the overall accuracy of the navigation system. Therefore, accurately obtaining the heading information of the carrier is of great significance for high-precision navigation.

[0004] Polarized light orientation and geomagnetic orientation are two commonly used autonomous orientation methods. Due to the different orientation principles of the two, their applicability in different types of environments and scenarios is also different. For example, geomagnetism is easily disturbed by external soft and hard magnetic fields. When the electromagnetic environment changes, the orientation accuracy will drop significantly, and magnetometer calibration is required. The commonly used elliptical calibration method requires obtaining magnetic field data in all directions of the carrier and requires circular motion, which requires high maneuverability of some large carriers. Summary of the invention

[0005] In view of the technical problems existing in the prior art, the present invention proposes a calibration method and device for a bionic polarized light compass and a micro-inertial auxiliary three-axis magnetometer.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: On the one hand, the present invention provides a bionic polarized light compass and a micro-inertial assisted three-axis magnetometer calibration method, comprising: Determine the installation relationship between the bionic polarized light compass, three-axis magnetometer, and micro-inertial sensor; The heading angle information provided by the bionic polarized light compass is used as a reference to assist the micro-inertial sensor in completing the initial alignment; The attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment are used to resolve the horizontal attitude angle, provide horizontal attitude information for the bionic polarized light compass and three-axis magnetometer, and correct the polarized light heading and magnetic heading; A model for polarization heading-assisted three-axis magnetometer calibration is established, and the compensation coefficient is determined according to the polarization heading and the three-axis magnetometer measurement value to achieve the calibration of the three-axis magnetometer.

[0007] On the other hand, the present invention provides a bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device, comprising: The first module is used to determine the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor; The second module is used to use the heading angle information provided by the bionic polarized light compass as a reference to assist the micro-inertial sensor in completing the initial alignment; The third module is used to calculate the horizontal attitude angle using the attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment, provide horizontal attitude information for the bionic polarized light compass and the three-axis magnetometer, and correct the polarized light heading and magnetic heading; The fourth module is used to establish a model for polarization heading assisted three-axis magnetometer calibration, determine the compensation coefficient according to the polarization heading and the three-axis magnetometer measurement value, and realize the calibration of the three-axis magnetometer.

[0008] On the other hand, the present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method are implemented.

[0009] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method when the computer program is executed by a processor.

[0010] On the other hand, the present invention provides a computer program product, which is stored on a computer-readable storage medium and includes computer instructions, which, when executed by a processor, enable a computer device to implement the steps of the above-mentioned bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method.

[0011] Compared with the prior art, the technical effects of the present invention are: The present invention uses the heading angle information provided by the bionic polarized light compass to assist the micro-inertial sensor to complete the initial alignment, and realizes the rapid acquisition of the initial attitude matrix. The present invention uses the attitude change and acceleration obtained by the micro-inertial sensor that completes the initial alignment to solve the horizontal attitude angle, and provides horizontal attitude information for the bionic polarized light compass and the three-axis magnetometer, which can ensure the normal use of the bionic polarized light compass and the three-axis magnetometer under tilt conditions. A model for polarized light heading to assist the calibration of the three-axis magnetometer is established, and the compensation coefficient is determined according to the polarized light heading and the three-axis magnetometer measurement value, and error compensation is performed to realize the calibration of the three-axis magnetometer. The polarized light heading (especially under clear weather conditions) has high orientation accuracy, and the polarized light orientation and geomagnetic orientation belong to the same type of navigation parameters, so the polarized light heading can be used to assist the magnetometer to complete the calibration, thereby improving the magnetic heading accuracy.

[0012] The invention provides a new calibration method for a three-axis magnetometer, which can realize geomagnetic heading calibration without performing ellipse calibration, so as to improve the applicability of the integrated navigation system in different application environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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 or the description of the prior art 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 the structures shown in these drawings without paying creative work.

[0014] Figure 1 It is a flow chart of a calibration method of a bionic polarized light compass and a micro-inertial assisted three-axis magnetometer provided by an embodiment; Figure 2 It is a schematic diagram of the installation relationship between a bionic polarized light compass, a three-axis magnetometer, and a micro inertial sensor in one embodiment. DETAILED DESCRIPTION

[0015] 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.

[0016] In one embodiment of the present invention, referring to Figure 1 The present invention provides a calibration method for a bionic polarized light compass and a micro-inertial auxiliary three-axis magnetometer, comprising: Determine the installation relationship between the bionic polarized light compass, three-axis magnetometer, and micro-inertial sensor; The heading angle information provided by the bionic polarized light compass is used as a reference to assist the micro-inertial sensor in completing the initial alignment; The attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment are used to resolve the horizontal attitude angle, provide horizontal attitude information for the bionic polarized light compass and three-axis magnetometer, and correct the polarized light heading and magnetic heading; A model for polarization heading-assisted three-axis magnetometer calibration is established, and the compensation coefficient is determined according to the polarization heading and the three-axis magnetometer measurement value to achieve the calibration of the three-axis magnetometer.

[0017] For the carrier equipped with polarized light compass, three-axis magnetometer, and micro-inertial sensor integrated navigation, the polarized light, geomagnetic and micro-inertial integrated navigation model uses six-state Kalman filtering for information fusion. The specific model is as follows: ; The state vector contains three attitude angle errors: roll, pitch and yaw , , , and the constant drift of the gyro in the three axes , , . The state transfer matrix ; Among them is The angular velocity of the Earth's rotation, is the local latitude.

[0018] The heading angle information fusion algorithm sets two observations, one is the difference between the geomagnetic heading angle and the pure inertial heading angle, and the other is the difference between the polarized light heading angle and the pure inertial heading angle. The observation equation can be obtained ; in ; In the present invention, determining the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor includes: using a visual inertial joint calibration method to determine the installation relationship between the bionic polarized light compass 1 and the micro-inertial sensor 2, using a double vector transformation method to determine the installation relationship between the three-axis magnetometer 3 and the micro-inertial sensor 2, and finally determining the installation relationship between the bionic polarized light compass 1, the three-axis magnetometer 3, and the micro-inertial sensor 2. Figure 2 , Figure 2 It is a schematic diagram of the installation relationship between a bionic polarized light compass, a three-axis magnetometer, and a micro inertial sensor in one embodiment.

[0019] When using micro-inertial sensors for attitude measurement, initial alignment is required to determine the attitude matrix at the initial moment. For high-precision inertial navigation, its gyroscope can be sensitive to the rotation of the earth, and the angular velocity of the earth's rotation can be used as a reference vector. However, since the micro-inertial sensor cannot be sensitive to the rotation of the earth, it can only obtain the horizontal attitude angle through acceleration information, and other information is required to complete the initial alignment. On the basis of determining the installation relationship between the bionic polarized light compass and the micro-inertial sensor, the heading angle information provided by the bionic polarized light compass can be used as a reference to assist the micro-inertial sensor in completing the initial alignment.

[0020] Under static conditions, the linear motion of the carrier and its derivative are both zero, and the specific force equation can be expressed as: ; In the formula is the output of the accelerometer, is the local gravity vector, is the local horizontal gravitational acceleration. , Substituting into ; ; At this time, only two horizontal attitude angles can be calculated, but the azimuth attitude angle cannot be obtained. The heading angle in the navigation system can be obtained by using the bionic polarized light compass. The conversion matrix between the micro inertial sensor and the bionic polarized light compass obtained by determining the installation relationship is .

[0021] Specifically, the heading angle information provided by the bionic polarized light compass is used as a reference to assist the micro-inertial sensor in completing the initial alignment, including: Based on the installation relationship between the bionic polarized light compass and the micro inertial sensor, the angular error between the bionic polarized light compass and the micro inertial sensor is determined ; Polarized light heading based on the output of a bionic polarized light compass And the angle error Get the heading angle of the micro inertial sensor in the navigation system , ; According to the heading angle And the pitch angle measured by the micro inertial sensor , Roll Angle , and then get the direction cosine matrix , thus completing the initial alignment of the micro inertial sensor.

[0022] During actual movement, the bionic polarized light compass and the three-axis magnetometer cannot be guaranteed to be in an absolutely horizontal state. At this time, the heading accuracy will be affected. The attitude change and acceleration obtained by the micro-inertial sensor can be used to solve the horizontal attitude angle and correct the magnetic heading and polarized light heading.

[0023] Specifically, the magnetic heading is corrected, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the three-axis magnetometer is expressed as: ; in , , Respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer, , , They respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer after horizontal angle correction; The corrected magnetic heading is obtained by using the measurement value of the three-axis magnetometer after horizontal angle correction It is expressed as: .

[0024] Specifically, the polarized light heading is corrected, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the bionic polarized light compass is expressed as: ; in , , Respectively represent the measured values ​​of the x, y, and z axes of the bionic polarized light compass, , , They respectively represent the measured values ​​of the x, y, and z axis directions of the bionic polarized light compass after horizontal angle correction; The measured value of the bionic polarized light compass after horizontal angle correction is used to obtain the corrected polarized light heading. It is expressed as: .

[0025] Due to the instrument errors (zero bias error, sensitivity error, and three-axis non-orthogonality error) of the three-axis magnetometer itself and the soft magnetic and hard magnetic interference during use, the collected data needs to be calibrated. From the actual measurement effect, the influence of hard magnetic interference is similar to the effect of zero bias error and three-axis non-orthogonality, and the influence of soft magnetic interference and sensitivity error is similar. Therefore, a polarization light heading assisted three-axis magnetometer calibration model is established as follows: ; Written in matrix form, as follows: ; in and denote the soft magnetic compensation coefficient matrix and the hard magnetic compensation coefficient matrix respectively, Represents the measured value of the Earth's magnetic field strength output by the three-axis magnetometer, Indicates the true value of the Earth's magnetic field strength.

[0026] Since the bionic polarized light compass is firmly connected to the three-axis magnetometer and the output headings are consistent, the polarized light heading can be used as a reference to select the polarized light headings in twelve directions for solution. and The information that needs to be known includes: when the carrier is in an inclined state, the polarized light headings in 12 directions and the corresponding horizontal attitude angles and the measured values ​​of the earth's magnetic field strength output by the three-axis magnetometer need to be measured. When the carrier is in a horizontal attitude, the polarized light headings in 8 directions and the corresponding measured values ​​of the earth's magnetic field strength output by the three-axis magnetometer need to be measured.

[0027] According to the corrected polarized light heading and the measured value of the earth's magnetic field intensity output by the three-axis magnetometer, a linear equation group is set up, and the soft magnetic compensation coefficient matrix is ​​obtained by solving the equation. and hard magnetic compensation coefficient matrix , thereby calibrating the measurement values ​​of the three-axis magnetometer using the polarization light heading-assisted three-axis magnetometer calibration model.

[0028] In particular, when the bionic polarized light compass and the three-axis magnetometer are placed horizontally, the polarized light heading assisted three-axis magnetometer calibration model can be simplified as shown below: ; in, Represents the polarized light heading. According to the corrected polarized light heading and the measured value of the earth's magnetic field intensity output by the three-axis magnetometer, a linear equation group is listed, and the soft magnetic compensation coefficient matrix is ​​obtained by solving the equation. and hard magnetic compensation coefficient matrix , so as to calibrate the subsequent measurements of the three-axis magnetometer.

[0029] The present invention adopts a method of using polarized light heading to assist the initial alignment of a micro-inertial sensor. After the installation relationship of multiple sensors is determined, the coordinate system conversion of the polarized heading information is performed to achieve rapid initial alignment of the micro-inertial sensor. On the basis of completing the initial alignment of the micro-inertial sensor, the present invention uses the measurement values ​​of the gyroscope and the accelerometer in the micro-inertial sensor to provide horizontal attitude information for the bionic polarized light compass and the three-axis magnetometer, thereby improving the measurement accuracy of the polarized light heading and the magnetic heading under the condition of small angle tilt.

[0030] The present invention uses polarized light heading and the earth magnetic field strength measurement value output by the three-axis magnetometer to determine the K, b matrix and realize the calibration of the three-axis magnetometer. Based on the horizontal attitude information provided by the micro-inertial sensor, the equations about the polarized light heading and the magnetic field measurement value are listed and solved. and Compared with the commonly used elliptical calibration, the polarization-assisted magnetometer calibration method does not require circular motion, which can reduce the requirements for the maneuverability of large platforms.

[0031] In another embodiment, a bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device is provided, comprising: The first module is used to determine the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor; The second module is used to use the heading angle information provided by the bionic polarized light compass as a reference to assist the micro-inertial sensor in completing the initial alignment; The third module is used to calculate the horizontal attitude angle using the attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment, provide horizontal attitude information for the bionic polarized light compass and the three-axis magnetometer, and correct the polarized light heading and magnetic heading; The fourth module is used to establish a model for polarization heading assisted three-axis magnetometer calibration, determine the compensation coefficient according to the polarization heading and the three-axis magnetometer measurement value, and realize the calibration of the three-axis magnetometer.

[0032] Furthermore, in the first module, the visual-inertial joint calibration method is used to determine the installation relationship between the bionic polarized light compass and the micro-inertial sensor, and the dual-vector transformation method is used to determine the installation relationship between the three-axis magnetometer and the micro-inertial sensor, and finally the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor is determined.

[0033] Furthermore, the second module includes: An angle error determination module is used to determine the angle error between the bionic polarized light compass and the micro inertial sensor based on the installation relationship between the bionic polarized light compass and the micro inertial sensor. ; Heading angle determination module for polarized light heading based on the output of a bionic polarized light compass And the angle error Get the heading angle of the micro inertial sensor in the navigation system , ; Direction cosine matrix determination module, used to determine the heading angle And the pitch angle measured by the micro inertial sensor , Roll Angle , and then get the direction cosine matrix , thus completing the initial alignment of the micro inertial sensor.

[0034] Furthermore, the third module includes a magnetic heading correction module and a polarized light heading correction module.

[0035] The magnetic heading correction module is used to correct the magnetic heading, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the three-axis magnetometer is expressed as: ; in , , Respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer, , , They respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer after horizontal angle correction; The corrected magnetic heading is obtained by using the measurement value of the three-axis magnetometer after horizontal angle correction It is expressed as: .

[0036] The polarization light heading correction module is used to correct the polarization light heading, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the bionic polarized light compass is expressed as: ; in , , Respectively represent the measured values ​​of the x, y, and z axes of the bionic polarized light compass, , , They respectively represent the measured values ​​of the x, y, and z axis directions of the bionic polarized light compass after horizontal angle correction; The measured value of the bionic polarized light compass after horizontal angle correction is used to obtain the corrected polarized light heading. It is expressed as: .

[0037] On the other hand, the present invention provides a computer device, including a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the calibration method of a bionic polarized light compass and a micro-inertial assisted three-axis magnetometer provided in any of the above-mentioned embodiments when executing the computer program. The computer device may be a server. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store sample data. The network interface of the computer device is used to communicate with an external terminal via a network connection.

[0038] On the other hand, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method provided in any of the above embodiments are implemented.

[0039] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0040] Matters not covered by the present invention are known technologies.

[0041] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0042] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. The calibration method of bionic polarized light compass and micro-inertial assisted three-axis magnetometer is characterized in that: include: Determine the installation relationship between the bionic polarized light compass, three-axis magnetometer, and micro-inertial sensor; The heading angle information provided by the bionic polarized light compass is used as a reference to assist the micro-inertial sensor in completing the initial alignment; The attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment are used to resolve the horizontal attitude angle, provide horizontal attitude information for the bionic polarized light compass and three-axis magnetometer, and correct the polarized light heading and magnetic heading; A model for polarization heading-assisted three-axis magnetometer calibration is established, and the compensation coefficient is determined according to the polarization heading and the three-axis magnetometer measurement value to achieve the calibration of the three-axis magnetometer.

2. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method according to claim 1, characterized in that: Determine the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor, including: using the visual inertial joint calibration method to determine the installation relationship between the bionic polarized light compass and the micro-inertial sensor, using the double-vector transformation method to determine the installation relationship between the three-axis magnetometer and the micro-inertial sensor, and finally determine the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor.

3. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method according to claim 2, characterized in that: The heading angle information provided by the bionic polarized light compass is used as a reference to assist the micro-inertial sensor in completing the initial alignment, including: Based on the installation relationship between the bionic polarized light compass and the micro inertial sensor, the angular error between the bionic polarized light compass and the micro inertial sensor is determined ; Polarized light heading based on the output of a bionic polarized light compass And the angle error Get the heading angle of the micro inertial sensor in the navigation system , ; According to the heading angle And the pitch angle measured by the micro inertial sensor , Roll Angle , and then get the direction cosine matrix , thus completing the initial alignment of the micro inertial sensor.

4. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method according to claim 3, characterized in that: Corrections to magnetic heading include: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the three-axis magnetometer is expressed as: in , , Respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer, , , They respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer after horizontal angle correction; The corrected magnetic heading is obtained by using the measurement value of the three-axis magnetometer after horizontal angle correction It is expressed as: .

5. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method according to claim 3, characterized in that: Correct polarized light heading, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the bionic polarized light compass is expressed as: in , , Respectively represent the measured values ​​of the x, y, and z axes of the bionic polarized light compass, , , They respectively represent the measured values ​​of the x, y, and z axis directions of the bionic polarized light compass after the horizontal angle correction; The measured value of the bionic polarized light compass after horizontal angle correction is used to obtain the corrected polarized light heading. It is expressed as: .

6. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration method according to claim 3, characterized in that: The polarization heading assisted three-axis magnetometer calibration model is established as follows: in and denote the soft magnetic compensation coefficient matrix and the hard magnetic compensation coefficient matrix respectively, Represents the measured value of the Earth's magnetic field strength output by the three-axis magnetometer, Indicates the true value of the Earth's magnetic field strength; According to the corrected polarized light heading and the measured value of the earth's magnetic field intensity output by the three-axis magnetometer, a linear equation group is set up, and the soft magnetic compensation coefficient matrix is ​​obtained by solving the equation. and hard magnetic compensation coefficient matrix , thereby calibrating the measurement values ​​of the three-axis magnetometer using the polarization light heading-assisted three-axis magnetometer calibration model.

7. Bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device, characterized in that: include: The first module is used to determine the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor; The second module is used to use the heading angle information provided by the bionic polarized light compass as a reference to assist the micro-inertial sensor in completing the initial alignment; The third module is used to calculate the horizontal attitude angle using the attitude change and acceleration obtained by the micro-inertial sensor that has completed the initial alignment, provide horizontal attitude information for the bionic polarized light compass and the three-axis magnetometer, and correct the polarized light heading and magnetic heading; The fourth module is used to establish a model for polarization heading assisted three-axis magnetometer calibration, determine the compensation coefficient according to the polarization heading and the three-axis magnetometer measurement value, and realize the calibration of the three-axis magnetometer.

8. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device according to claim 7, characterized in that: In the first module, the visual-inertial joint calibration method is used to determine the installation relationship between the bionic polarized light compass and the micro-inertial sensor, and the dual-vector transformation method is used to determine the installation relationship between the three-axis magnetometer and the micro-inertial sensor, and finally the installation relationship between the bionic polarized light compass, the three-axis magnetometer, and the micro-inertial sensor is determined.

9. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device according to claim 7, characterized in that: The second module includes: An angle error determination module is used to determine the angle error between the bionic polarized light compass and the micro inertial sensor based on the installation relationship between the bionic polarized light compass and the micro inertial sensor. ; Heading angle determination module for polarized light heading based on the output of a bionic polarized light compass And the angle error Get the heading angle of the micro inertial sensor in the navigation system , ; Direction cosine matrix determination module, used to determine the heading angle And the pitch angle measured by the micro inertial sensor , Roll Angle , and then get the direction cosine matrix , thus completing the initial alignment of the micro inertial sensor.

10. The bionic polarized light compass and micro-inertial assisted three-axis magnetometer calibration device according to claim 7, characterized in that: The third module includes a magnetic heading correction module and a polarized light heading correction module; The magnetic heading correction module is used to correct the magnetic heading, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the three-axis magnetometer is expressed as: in , , Respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer, , , They respectively represent the measurement values ​​of the x, y, and z axes of the three-axis magnetometer after horizontal angle correction; The corrected magnetic heading is obtained by using the measurement value of the three-axis magnetometer after horizontal angle correction It is expressed as: ; The polarization light heading correction module is used to correct the polarization light heading, including: Pitch angle measured by micro-inertial sensor after initial alignment , Roll Angle , the horizontal angle correction process of the three-axis measurement value of the bionic polarized light compass is expressed as: in , , Respectively represent the measured values ​​of the x, y, and z axes of the bionic polarized light compass, , , They respectively represent the measured values ​​of the x, y, and z axis directions of the bionic polarized light compass after the horizontal angle correction; The measured value of the bionic polarized light compass after horizontal angle correction is used to obtain the corrected polarized light heading. It is expressed as: .

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