Geomagnetic dynamic iron drift compensation method and device, storage medium and terminal equipment

Abstract

The application provides a geomagnetic dynamic iron drift compensation method and device, a storage medium and a terminal device, and applies to the technical field of electronic compass calibration. The method comprises the following steps: in response to a geomagnetic iron drift compensation trigger condition, controlling an excitation coil integrated in a geomagnetic sensor package to generate an excitation magnetic field in at least three linearly independent positive and negative direction pairs in sequence according to a preset sequence; obtaining original magnetic field measurement data of the geomagnetic sensor in each direction in the at least three linearly independent positive and negative direction pairs; determining a soft iron interference matrix based on the original magnetic field measurement data in each direction and the corresponding excitation magnetic field, wherein the soft iron interference matrix represents magnetic field distortion; determining a hard iron offset vector based on the soft iron interference matrix and the original magnetic field measurement data in any direction; and compensating real-time output of the geomagnetic sensor according to the soft iron interference matrix and the hard iron offset vector. The method is used to achieve the effect of high-precision, adaptive and real-time dynamic compensation of geomagnetic iron drift.

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