半参数模型在载体干扰磁场补偿中的应用研究  

Study on the application of semi-parametric model in vehicle interferential magnetic field compensation

作　　者：李季[1] 潘孟春[1] 罗诗途[1] 罗飞路[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《仪器仪表学报》2013年第9期2147-2152,共6页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(51175507)资助项目

摘　　要：在地磁导航技术中,载体磁场是造成磁力仪测量误差的重要干扰源,为了得到精确的地磁场值,必须对载体磁场进行补偿。针对传统静态模型无法全面描述载体干扰磁场特性的不足,将半参数模型引入载体干扰磁场的补偿中去,建立基于半参数模型的载体干扰磁场补偿方程,并采用两步估计法对模型中的各参数进行估计,最后通过仿真和实验对基于半参数模型的补偿方法的效果进行了验证。仿真和实验结果表明采用非线性半参数模型可以较全面地反映载体干扰磁场特性,提高了参数估计的精度,改进补偿的效果。研究结果对于地磁导航技术在实际中的应用具有一定的指导意义。In geomagnetic navigation technique, the vehicle magnetic field is an important interference resource, which leads to the measurement error of the magnetometer. In order to accurately measure the geomagnetic field, the vehicle magnetic field must be compensated. Aiming at the deficiency that traditional static model can not fully describe the characteristics of the vehicle magnetic field, this paper introduces a nonlinear semi-parametric model in the compen- sation of the vehicle magnetic field. The semi-parametric model based compensation equation of the vehicle magnetic field is established;a two-step kernel estimation method is adopted to evaluate the parameters in the model. Simula- tion and experiment were conducted, which verify the effect of the semi-parametric model based compensation meth- od. The simulation and experiment results show that the nonlinear semi-parametric model can reflect the characteris- tics of the vehicle magnetic field better. With this model, the parameter estimation precision is improved and the com- pensation effect is enhanced. The research result has certain guiding significance for the practical application of the geomagnetic navigation technique.

关 键 词：地磁导航 载体磁场 补偿 半参数模型 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]