无磁转台的电子罗盘误差分离标定方法
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摘要
采用3个分立的磁感式磁传感器和三轴加速度传感器制作了全数字输出电子罗盘;基于自制三轴旋转无磁转台提出了一种电子罗盘标误差分离标定方法。通过无磁转台获取磁传感器敏感轴非正交或未对准的参数和磁传感器输出特性曲线,磁传感器的灵敏度系数因子和偏置量。分别评价偏置、灵敏度系数不一致以及非正交或未对准对电子罗盘方位角精度的影响。实验结果表明:经过校准后,电子罗盘水平面内误差不超过0.22°,而俯仰角和翻滚角在60°内时,方位角最大误差约为0.4°,说明了标定方法的有效性。
Full digital electronic compass is developed by using magnetic-inductive sensors and acceleration sensors and the error-separation method based on non-magnetic three-axis rotation platform is presented to calibrate the magnetic compass. The parameters about misalignment and non-orthogonality of the sensor axes and the response curve of sensor output to earth magnetic intensity are obtained. Furtherly,the sensitivity of magnetometers and the bias from the offset and hard-iron interference are estimated according to the response curve. The independent effect of non-orthogonality and misalignment,bias and inconsistence in sensitivity on the heading error can be evaluated with the error-separation method,respectively. After calibration,the maximum heading error of magnetic compass is about 0. 4° when both pitch angle and roll angle are in the range of 60°,indicating the error-separation method is effective and efficient to calibrate electronic compasses.
Full digital electronic compass is developed by using magnetic-inductive sensors and acceleration sensors and the error-separation method based on non-magnetic three-axis rotation platform is presented to calibrate the magnetic compass. The parameters about misalignment and non-orthogonality of the sensor axes and the response curve of sensor output to earth magnetic intensity are obtained. Furtherly,the sensitivity of magnetometers and the bias from the offset and hard-iron interference are estimated according to the response curve. The independent effect of non-orthogonality and misalignment,bias and inconsistence in sensitivity on the heading error can be evaluated with the error-separation method,respectively. After calibration,the maximum heading error of magnetic compass is about 0. 4° when both pitch angle and roll angle are in the range of 60°,indicating the error-separation method is effective and efficient to calibrate electronic compasses.
引文
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[2]Vcelák J,Ripka P,Kubík J,et al.AMR navigation systems and methods of their calibration[J].Sensors and Actuators A:Physical,2005,123-124:122-128.
[3]Bowditch N.The American practical navigator[M].9th ed.Bethesda:National Imagery and Mapping Agency,1995.
[4]Caruso M J.Applications of magnetoresistive sensors in navigation systems[J].SAE Transactions,1997,106:1092-1098.
[5]Fang Jiancheng,Sun Hongwei,Cao Juanjuan,et al.A novel calibration method of magnetic compass based on ellipsoid fitting[J].IEEE Transactions on Instrumentation and Measurement,2011,60(6):2053-2061.
[6]张爱军,王昌明,赵辉.三轴电子罗盘的磁方位角误差补偿研究[J].传感器与微系统,2008,27(8):33-35.
[7]Syed Z F,Aggarwal P,Goodall C,et al.A new multi-position calibration method for MEMS inertial navigation systems[J].Measurement Science and Technology,2007,18(7):1897-1907.