自适应抗差最小二乘估计的捷联磁力计标定
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摘要
针对磁力计会随干扰磁场产生量测噪声甚至不良数据的问题,以行人导航定位为应用背景,提出一种基于自适应抗差最小二乘参数估计的捷联三轴磁力计标定方法:对三轴磁力计的误差进行分析,建立其参数化数学模型,引入自适应抗差最小二乘估计,采用IGG方案的权函数实现参数辨识;并利用磁力计与惯性导航组合成行人导航定位系统,形成一套有效的在线验证标定方法。实验结果表明:与传统的最小二乘法相比,基于自适应抗差最小二乘估计的标定方法更精确,对行人导航定位系统的航向补偿效果更佳,系统定位终点误差减小15%。
Aiming at the problem that it is vulnerable to measurement noise and even ill data for the magnetometers with magnetic interference,considering the application background of pedestrial navigation,the paper proposed a strapdown calibration method of three-axis magnetometers based on adaptive robust least squares(ARLS):the errors of the three-axis magnetometers were analyzed,and the mathematical model was given with introduction of adaptive robust least squares,then the error parameters were identified by using IGG scheme,finally the pedestrial navigation system combining magnetometer and inertial navigation was established with an effective calibration for online validation.Experimental result showed that with the proposed method,the calibration would be more accurate,the heading error compensation effect would be better for the pedestrian navigation and positioning system,and the endpoint error of system positioning would be reduced by 15 % compared with traditional least squares method.
Aiming at the problem that it is vulnerable to measurement noise and even ill data for the magnetometers with magnetic interference,considering the application background of pedestrial navigation,the paper proposed a strapdown calibration method of three-axis magnetometers based on adaptive robust least squares(ARLS):the errors of the three-axis magnetometers were analyzed,and the mathematical model was given with introduction of adaptive robust least squares,then the error parameters were identified by using IGG scheme,finally the pedestrial navigation system combining magnetometer and inertial navigation was established with an effective calibration for online validation.Experimental result showed that with the proposed method,the calibration would be more accurate,the heading error compensation effect would be better for the pedestrian navigation and positioning system,and the endpoint error of system positioning would be reduced by 15 % compared with traditional least squares method.
引文
[1]陈卓,田风勋,孙建军.地磁导航关键技术研究进展综述[J].测绘与空间地理信息,2016,39(1):16-18.
[2]GEBRE-EGZIABHER D,ELKAIM G H,POWELL J D,et al.A non-linear,two-step estimation algorithm for calibrating solid-state strapdown magnetometers[EB/OL].[2017-06-28].https://users.soe.ucsc.edu/~elkaim/Documents/TwoVec.pdf.
[3]FOSTER C C,ELKAIM G H.Extension of a two-step calibration methodology to include nonorthogonal sensor axes[J].Aerospace&Electronic Systems IEEE Transactions on,2008,44(3):1070-1078.
[4]DORVEAUX E,VISSIERE D,MARTIN A P,et al.Iterative calibration method for inertial and magnetic sensors[EB/OL].[2017-06-28].https://hal-mines-paristech.archives-ouvertes.fr/hal-00473610/document.
[5]吴志添,武元新,胡小平,等.基于总体最小二乘的捷联三轴磁力仪标定与地磁场测量误差补偿[J].兵工学报,2012,33(10):1202-1209.
[6]盛蔚,蒋勇.三轴磁传感器系统的在线标定[J].弹箭与制导学报,2015,35(3):179-182.
[7]张滢,杨任农,李明阳,等.基于截断总体最小二乘算法的车载三轴磁力仪标定[J].兵工学报,2015,36(3):427-432.
[8]杨元喜.自适应抗差最小二乘估计[J].测绘学报,1996,25(3):206-211.
[9]任夏,李铸洋,丁阳.抗差自适应滤波算法在实时定轨中的应用[J].导航定位学报,2016,4(2):26-28+35.
[10]FISCHER C,SUKUMAR P T,HAZAS M.Tutorial:implementation of a pedestrian tracker using foot-mounted inertial sensors[EB/OL].[2017-06-28].http://www.comp.lancs.ac.uk/~hazas/Fischer13_ImplementingaPedestrianTracker.pdf.
[11]马明,宋千,李杨寰,等.基于地磁辅助的室内行人定位航向校正方法[J].电子与信息学报,2017,39(3):647-653.
[12]钱伟行,朱欣华,苏岩.基于足部微惯性/地磁测量组件的个人导航方法[J].中国惯性技术学报,2012,20(5):567-572.
[2]GEBRE-EGZIABHER D,ELKAIM G H,POWELL J D,et al.A non-linear,two-step estimation algorithm for calibrating solid-state strapdown magnetometers[EB/OL].[2017-06-28].https://users.soe.ucsc.edu/~elkaim/Documents/TwoVec.pdf.
[3]FOSTER C C,ELKAIM G H.Extension of a two-step calibration methodology to include nonorthogonal sensor axes[J].Aerospace&Electronic Systems IEEE Transactions on,2008,44(3):1070-1078.
[4]DORVEAUX E,VISSIERE D,MARTIN A P,et al.Iterative calibration method for inertial and magnetic sensors[EB/OL].[2017-06-28].https://hal-mines-paristech.archives-ouvertes.fr/hal-00473610/document.
[5]吴志添,武元新,胡小平,等.基于总体最小二乘的捷联三轴磁力仪标定与地磁场测量误差补偿[J].兵工学报,2012,33(10):1202-1209.
[6]盛蔚,蒋勇.三轴磁传感器系统的在线标定[J].弹箭与制导学报,2015,35(3):179-182.
[7]张滢,杨任农,李明阳,等.基于截断总体最小二乘算法的车载三轴磁力仪标定[J].兵工学报,2015,36(3):427-432.
[8]杨元喜.自适应抗差最小二乘估计[J].测绘学报,1996,25(3):206-211.
[9]任夏,李铸洋,丁阳.抗差自适应滤波算法在实时定轨中的应用[J].导航定位学报,2016,4(2):26-28+35.
[10]FISCHER C,SUKUMAR P T,HAZAS M.Tutorial:implementation of a pedestrian tracker using foot-mounted inertial sensors[EB/OL].[2017-06-28].http://www.comp.lancs.ac.uk/~hazas/Fischer13_ImplementingaPedestrianTracker.pdf.
[11]马明,宋千,李杨寰,等.基于地磁辅助的室内行人定位航向校正方法[J].电子与信息学报,2017,39(3):647-653.
[12]钱伟行,朱欣华,苏岩.基于足部微惯性/地磁测量组件的个人导航方法[J].中国惯性技术学报,2012,20(5):567-572.