一种新的电子罗盘校准算法研究
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摘要
针对复杂磁环境下磁强计误差补偿算法效果不理想而导致电子罗盘精度较低的问题,本文对磁强计的误差来源进行了详细分析与建模,提出了一种基于模拟退火算法(SA)的空间椭球磁强计校正方法,采用模拟退火算法,对磁强计测量数据进行空间椭球拟合,用估计的参数进行刻度系数与软磁干扰、硬磁干扰与零点偏移的整体误差补偿。最后,利用最小二乘法求解出非正交轴的方向余弦,进行非正交误差和安装误差补偿。最终利用设计的算法对某电子罗盘系统进行了航向角误差对比试验,实验结果表明该方法能准确计算出磁强计的误差参数,实测航向角精度从4.5°提高到0.4°,提高了一个数量级。该方法在电子罗盘的校准中具有了一定的工程参考价值。
In view of the problem that the accuracy of magnetometer error compensation algorithm in complex magnetic environment is not ideal and results in low accuracy of electronic compass,This paper analyzes and models the error sources of magnetometer in detail,proposing an algorithm based on simulated annealing( SA). Spatial ellipsoid magnetometer calibration method using a simulated annealing algorithm to fits the magnetometer measurement data to a spatial ellipsoid fit,using the estimated parameters for scale factor and soft magnetic interference,hard magnetic interference,and zero offset for overall error compensation. Finally,the least squares method is used to solve the direction cosine of the non-orthogonal axis,non-orthogonal error and installation error compensation are performed. Finally,a heading angle error comparison test was performed on an electronic compass system using the designed algorithm. Finally,the course angle error comparison test of an electronic compass system is carried out by using the designed algorithm. The experimental results show that this method can accurately calculate the error parameters of the magnetometer,the measured course Angle accuracy is improved from 4.5°to 0.4°,which improves an order of magnitude. This method has a certain engineering reference value in the calibration of electronic compass.
In view of the problem that the accuracy of magnetometer error compensation algorithm in complex magnetic environment is not ideal and results in low accuracy of electronic compass,This paper analyzes and models the error sources of magnetometer in detail,proposing an algorithm based on simulated annealing( SA). Spatial ellipsoid magnetometer calibration method using a simulated annealing algorithm to fits the magnetometer measurement data to a spatial ellipsoid fit,using the estimated parameters for scale factor and soft magnetic interference,hard magnetic interference,and zero offset for overall error compensation. Finally,the least squares method is used to solve the direction cosine of the non-orthogonal axis,non-orthogonal error and installation error compensation are performed. Finally,a heading angle error comparison test was performed on an electronic compass system using the designed algorithm. Finally,the course angle error comparison test of an electronic compass system is carried out by using the designed algorithm. The experimental results show that this method can accurately calculate the error parameters of the magnetometer,the measured course Angle accuracy is improved from 4.5°to 0.4°,which improves an order of magnitude. This method has a certain engineering reference value in the calibration of electronic compass.
引文
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[2]殷树言,陈志翔,卢振洋.基于模拟退火算法的工件位置标定[J].焊接学报,2003(2):1-3+10-4.
[3]龙礼,黄家才.基于递推最小二乘法的地磁测量误差校正方法[J].仪器仪表学报,2017,38(6):1440-1446.
[4]孙倩,付虹.椭球拟合的电子罗盘磁差补偿[J].传感器与微系统,2016,35(9):39-41,45.
[5]廖方茵.遗传模拟退火算法在MATLAB上的编程实现[J].福建电脑,2015,31(5):39-40.
[6]张晓明,杨国欢,赖正喜,等.各向异性磁电阻传感器高精度测试技术[J].测试技术学报,2015,29(1):73-77.
[7]吕辰,张晓明,檀杰,等.基于遗忘因子递推最小二乘的无人机在线磁补偿技术研究[J].传感技术学报,2018,31(2):218-222.
[8]龙礼,张合,刘建敬.姿态检测地磁传感器误差分析与补偿方法[J].中国惯性技术学报,2013,21(1):80-83.
[9]孙倩,付虹.椭球拟合的电子罗盘磁差补偿[J].传感器与微系统,2016,35(9):39-41,45.
[10]杜英,李杰,孔祥雷,等.无航向基准条件下电子罗盘的误差补偿方法研究[J].传感技术学报,2010,23(9):1285-1288.
[11]黄文韬.新型电子罗盘设计及其误差补偿算法的研究[D].广东工业大学,2013:39-48.
[12]赵鑫炉,张晓明,白渚铨,等.基于磁阻传感器的航姿测量系统罗差补偿技术研究[J].传感技术学报,2013,26(11):1504-1507.
[13]文浩.遗传模拟退火算法在阿尔奇公式参数估计中的应用[J].断块油气田,2008(1):105-107.