三轴地磁传感器误差建模及在线补偿方法
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摘要
针对三轴地磁传感器的传统误差补偿方法操作繁琐、依赖外界仪器,无法应用于车辆地磁导航系统的缺点,提出了一种基于无迹卡尔曼滤波的三轴地磁传感器误差在线补偿方法。分析地磁传感器误差产生机理,得到了适用于车辆导航系统的地磁传感器误差模型。设计无迹卡尔曼滤波器估计模型中未知参数,从而实现误差的在线补偿。实验结果表明:所提方法有效可行,补偿后的精度在0. 5°以内,补偿效果较好。
Aiming at the shortcomings of three-axis geomagnetic sensor such as troublesome steps of traditional error compensation method,relying on external instruments,so it can not be applied to geomagnetic navigation system of vehicles,an online compensation method for three-axis geomagnetic sensor error based on unscented Kalman filtering is proposed. Generation mechanism of geomagnetic sensor error is analyzed,and geomagnetic sensor error model suitable for vehicle navigation system is obtained. Unscented Kalman filter is designed to complete the estimation of the unknown parameters in the model,thus realize on-line compensation of error. The experimental result shows that the proposed method is effective and feasible,and the precision after compensation is within 0. 5°,which can achieve better compensation effect.
Aiming at the shortcomings of three-axis geomagnetic sensor such as troublesome steps of traditional error compensation method,relying on external instruments,so it can not be applied to geomagnetic navigation system of vehicles,an online compensation method for three-axis geomagnetic sensor error based on unscented Kalman filtering is proposed. Generation mechanism of geomagnetic sensor error is analyzed,and geomagnetic sensor error model suitable for vehicle navigation system is obtained. Unscented Kalman filter is designed to complete the estimation of the unknown parameters in the model,thus realize on-line compensation of error. The experimental result shows that the proposed method is effective and feasible,and the precision after compensation is within 0. 5°,which can achieve better compensation effect.
引文
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[3] Vasconcelos J F,Elkaim G,Silvestre C,et al. A geometric approach to strapdown magnetometer calibration in sensor frame[J]. IEEE Transactions on Aerospace&Electronic Systems 2008,41(1):172-177.
[4] Pang H,Zhu X J,Pan M,et al. Misalignment calibration of geomagnetic vector measurement system using parallelepiped frame rotation method[J]. Journal of Magnetism&Magnetic Materials,2016,419:309-316.
[5]黄汛,高启孝,周山.基于GPS辅助以实现捷联式数字磁罗经自动消差的研究[J].中国惯性技术学报,2004,12(5):31-35.
[6]林雪原,王传芳,孙校书,等.捷联航姿传感器的误差补偿标定方法[J].海军航空工程学院学报,2007,22(3):365-368.
[7]郭鹏飞,任章,邱海韬,等.一种十二位置不对北的磁罗盘标定方法[J].中国惯性技术学报,2007,15(5):598-601.
[8]寇义民.地磁导航关键技术研究[D].哈尔滨:哈尔滨工业大学,2010.
[9]杨晓东,王炜.地磁导航原理[M].北京:国防工业出版社,2009.
[10]刘晓娜.地磁传感器及其在姿态角测试中的应用研究[D].太原:中北大学,2008.
[11] Bonnet S,Bassompierre C,Godin C,et al. Calibration methods for inertial and magnetic sensors[J]. Sensors&Actuators A:Physical,2009,156(2):302-311.
[12] Wahdan A,Georgy J,Abdelfatah W F,et al. Magnetometer calibration for portable navigation devices in vehicles using a fast and autonomous technique[J]. IEEE Transactions on Intelligent Transportation Systems,2014,15(5):2347-2352.
[13] Lai K L,Harman R R,Crassidis J L. Real-time attitude-independent three-axis magnetometer calibration[J]. Journal of Guidance,Control,and Dynamics,2005,28(1):115-120.