四面体磁梯度张量系统的误差补偿  

Error compensation of tetrahedron magnetic gradiometer

作　　者：于振涛[1,2] 吕俊伟[2] 郭宁[3] 周静[4] 

机构地区：[1]海军潜艇学院航海观通系 [2]海军航空工程学院控制工程系 [3]海军91049部队 [4]海军92474部队

出　　处：《光学精密工程》2014年第10期2683-2690,共8页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划资助项目(No.2010AAJ211)

摘　　要：针对搭载于水下无人航行器(UUV)的磁梯度张量系统的系统误差,提出了一种系统误差补偿方法。该方法利用四面体磁梯度张量系统的差分测量算法,融合系统中单个矢量磁力仪的系统误差和磁力仪之间的安装中心错位误差,建立了四面体磁梯度张量系统误差数学模型;基于此数学模型提出了系统误差补偿算法,并根据磁梯度张量9分量之间的数学关系提出了补偿参数辨识方法;最后,通过仿真实验对该方法进行了验证。实验结果表明:该方法可以有效补偿磁梯度张量系统的系统误差,补偿量达96.2%,且补偿效果优于参考文献提出的系统误差补偿方法。该方法利用补偿参数对磁梯度张量系统的输出值直接进行系统误差补偿,从理论上解决了磁梯度张量系统整体误差的统一补偿问题。A compensation method was proposed for systematic errors of the tetrahedron magnetic gra diometer on an Unmanned Underwater Vehicle （UUV）. With the difference algorithm based on tetra hedron magnetic gradient tensor, the method fused the error of each vector magnetometer and the in- stallation error between the magnetometers to establish the mathematic model of the magnetic gradi- ometer errors. Based on this error model, the error compensation algorithm was proposed and the compensation coefficient recognition method was presented by mathematic relations of 9 components of the magnetic gradient tensor. The method was verified by simulation experiments. The simulation results show that the proposed method compensates 96.2% systematic errors of the magnetic gradi- ometer efficiently, and the compensation effect is better than that of the existing method in refer- ences. As the method compensates systematic errors of the magnetic gradiometer output directly bythe compensation coefficients, it realizes the holistic systematic error compensation of the magnetic gradiometer theoretically.

关 键 词：水下无人航行器 磁梯度张量系统 磁场 系统误差 误差补偿 

分 类 号：U666.11[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]