一种正交三轴磁罗盘的椭球拟合分步优化补偿方法（英文）
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摘要
地磁与重力一起构成了无源导航的基本组成部分。针对嵌入在航姿参考系统中的磁罗盘易受到外部环境干扰问题,提出采用带有椭球约束的最小二乘法分段法,及牛顿-拉夫逊迭代对磁场干扰补偿系数进行分步求取,即在硬磁、软磁系数补偿中采用分段优化,以减小外部磁场干扰对相关参数估计的影响。在多干扰源及噪声条件下进行仿真试验(Matlab数字模拟)及Honeywell HMR3000磁罗盘的转台实验,结果表明:相比未补偿情形,两步优化校正后的总地磁场强度误差估计值由30μT下降到0.7μT,磁罗盘输出航向误差均值估计值由6.2°减小到0.5°。经验证,方法具有强收敛性,在实际地磁测量应用中具备可靠及兼容性能。
Geomagnetic field and the earth gravity together constitute the basic components of passive navigation.On the issue of magnetic compass(embedded in an AHRS,so-called Attitude and Heading Reference System)being susceptible to environmental magnetic field,the least-square fitting concept with ellipsoid constraint,together with Newton-Raphson iteration method,is introduced by stepwise calculating the interference correction coefficients of magnetic field,being referred to as two-step optimized strategy for hard and soft magnetic coefficients correction.It is desired to enhance the related parameter estimates accuracy by eliminating the impact of environmental magnetic interferences on pure magnetic field.Under the conditions of multi-magnetic interference sources and noises,the laboratory tests are conducted based upon the turntable experiments with Honeywell HMR3000 compass,and the data processing is implemented by Matlab numerical simulation.The results indicate that,compared with the initial environmental interference reference,the error estimates of total magnetic field intensity by this optimized two-step correction design fall to 0.7μT from 30μT,and the mean of heading angle error estimates extracted from calibrated compass fall to 0.5°from 6.2°.The proposed solution,therefore,is proved to possess strong convergence,being reliably compatible in the practical applications.
Geomagnetic field and the earth gravity together constitute the basic components of passive navigation.On the issue of magnetic compass(embedded in an AHRS,so-called Attitude and Heading Reference System)being susceptible to environmental magnetic field,the least-square fitting concept with ellipsoid constraint,together with Newton-Raphson iteration method,is introduced by stepwise calculating the interference correction coefficients of magnetic field,being referred to as two-step optimized strategy for hard and soft magnetic coefficients correction.It is desired to enhance the related parameter estimates accuracy by eliminating the impact of environmental magnetic interferences on pure magnetic field.Under the conditions of multi-magnetic interference sources and noises,the laboratory tests are conducted based upon the turntable experiments with Honeywell HMR3000 compass,and the data processing is implemented by Matlab numerical simulation.The results indicate that,compared with the initial environmental interference reference,the error estimates of total magnetic field intensity by this optimized two-step correction design fall to 0.7μT from 30μT,and the mean of heading angle error estimates extracted from calibrated compass fall to 0.5°from 6.2°.The proposed solution,therefore,is proved to possess strong convergence,being reliably compatible in the practical applications.
引文
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[12]IGRF(12th Generation,re evised 2014)s ynthesis form..[2017-12-30].http://www.ge eomag.bgs.ac.uu k/data_service//models_comp ass/igrf_form.s shtml.
[2]Han Q,Dou ZZ,Tong X,et a al.A modified Tolles-Lawson n model robust to the errors of the three-aa xis strapdown n magnetometerr[J].IEEE Geo osciences&Remote Sensing g Letters,2017,99:1-5.
[3]Pang H F,Chh en J F,Li J,et t al.Integrated calibration and d magnetic distuu rbance compe ensation of three e-axis magne--tometers[J].MMeasurement,20016,93:409-4113.
[4]Bonnet S,Baa ssompierre C,Godin C,et al.Calibration n methods for inn ertial and mag gnetic sensors[JJ].Sensors and d Actuators A:PPhysical,2009,156(2):302-3111.
[5]Yuan G M,Yuan W Z,Lu uo D Y,et al.Calibration of f three-axis ma gnetometer bas sed on adaptiv e genetic algo--rithm[J].Jourr nal of Chinese e Inertial Techh nology,2017,,25(3):382-386.
[6]Teng Z J,Qu Z Q,Zhang LY,et al.Reseaa rch on vehicle e navigation bd/dr/mm integra ated navigation positioning[J]..Journal of Northeast Electr ric Power Un iversity,2017,,37(4):98-101.
[7]Renaudin V,Afzal M H,La achapelle G.Complete triaxis s magnetometerr calibration i in the magnee tic domain[J]..Journal of Senn sors,2010:1-110.
[8]Ousaloo H S,Sharifi G,Ma ahdian J,et al.Complete cali--bration of thrr ee-axis strapdo own magnetomm eter in moun--ting frame[J].IEEE Sensors JJournal,2017,PPP(99):1-1.
[9]Liu Y,Zhou J,Ge Z.Cor rrection methoo d of magnetic c measurement error based on n locus constraa ints[J].Journal l of Chinese Inee rtial Technolog gy,2012,20(2)):205-210.
[10]Markovic R,Krajnc A,Matko D.Ca libration of a a solid-state maa gnetic compas ss using angulaa r-rate informa--tion from loww-cost sensors[JJ].IET Sciencee,Measurement t and Technologg y,2011,5(2):54-58.
[11]Zhou S,Yangg F.Inverse qu uadratic eigenvv alues problem m for mixed ma trix and its op ptimal approximm ation[J].Jour--nal of Northe ast Electric Po ower Universityy,2018,38(4)::85-89.
[12]IGRF(12th Generation,re evised 2014)s ynthesis form..[2017-12-30].http://www.ge eomag.bgs.ac.uu k/data_service//models_comp ass/igrf_form.s shtml.