摘要
针对现有三轴磁强计误差校正方法存在计算量大、依赖外界参考信息、不能在线校正等问题,提出一种基于递推最小二乘的误差在线自校正方法。根据Poisson方程对磁场测量模型的描述,导出磁场矢量误差校正模型;基于椭球假设理论,建立校正模型与椭球曲面方程系数之间的关系;推导了基于递推最小二乘的椭球方程系数在线辨识的实现过程,进而求得误差校正参数。实验结果表明:提出的方法能有效校正软磁和硬磁效应引起的数据畸变;采样点磁场强度最大波动幅度由67. 112 8μT降低至14. 064 8μT,误差标准差由15. 828 7μT降低至6. 345 1μT,适用于无外部参考基准下三轴磁强计的误差自动校正。
To solve the problems existing in three-axis magnetometer error correction method as such amount of computation is large,reliance on outside reference information is excessive,and online calibration is unrealizable,an online self-calibration method based on recursive least square is proposed. According to description by the Poisson equation on measurement model,magnetic field vector error correction model is derived. Rrelationship between calibration model and coefficients of ellipsoid surface equation is established based on theory of ellipsoid hypothesis. Realization process of on-line identification of coefficients of ellipsoid equation is derived based on recursive least squares,and then obtain error correction parameters. The results show that this method can correct effectively data distortion caused by soft and hard magnetic effects. And the maximum fluctuation range of magnetic field intensity of sampling points is reduced from 67. 112 8 μT to 14. 064 8 μT,and the error standard deviation is reduced from 15. 828 7 μT to 6. 345 1 μT,which indicate that the proposed method is suitable for error selfcalibration of three-axis magnetometer without external reference Benchmark.
引文
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