基于椭圆假设的磁罗盘航向测量算法研究  

Ellipse Hypothesis Based Error Compensation Algorithm for Magnetic Compass

作　　者：吴浩文[1] 杜刚[1] 叶萍[1] 战兴群[1] 

机构地区：[1]上海交通大学航空航天学院,上海200240

出　　处：《计算机仿真》2010年第2期352-355,共4页Computer Simulation

摘　　要：磁罗盘常用于自主式水下航行器(Autonomous Underwater Vehicle,AUV)导航系统中对惯性器件的姿态测量进行校正。为了补偿载体内干扰磁场对磁罗盘航向解算带来的误差,采用基于椭圆假设的误差模型,通过最小二乘拟合椭圆,获得磁罗盘误差补偿算法中椭圆模型的各分布参数。陆上仿真实验的结果表明,基于椭圆假设的实时补偿算法能够获得稳定、高精度的航向角测量,不同路径类型下的误差精度可提高60%至80%。补偿结果为水下导航系统算法设计提供了精度依据。Magnetic compass is often used in Autonomous Underwater Vehicle navigation system with inertial unit for gyroscope calibration. In order to compensate the magnetic disturbance within the carrier, an error model based on ellipse hypothesis is proposed, which uses an algorithm called direct least squares fitting of ellipses to determine the parameter of an ellipse. The simulation result of land testing shows that the real - time algorithm of magnetic compass error compensation is efficient. The improvement is ranging from 60% to 80% based on different routes, and the yaw measurement is steady and accurate. This result provides basis for the design of underwater navigation system.

关 键 词：水下导航 航向测量 磁罗盘 椭圆补偿 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]