一种电子磁罗盘航向误差的自适应补偿方法  

Adaptive compensation method for heading error of electronic magnetic compass

作　　者：冯毅博[1] 李希胜[1] 张晓娟[1] 

机构地区：[1]北京科技大学自动化学院,北京100083

出　　处：《仪器仪表学报》2014年第11期2607-2614,共8页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61273082)资助项目

摘　　要：分析软硬磁干扰对磁罗盘航向角的影响,建立相应的磁罗盘航向误差模型,并将模型参数作为卡尔曼滤波器的状态量,在MIMU的辅助作用下,使模型参数随周围磁场环境变化而改变,增强了磁罗盘航向测量的环境适应性。卡尔曼滤波器的观测量分为常规观测量和机动观测量,机动观测量在估计航向误差模型参数时增加了当前航向的权值,提高了当前航向的误差补偿精度。实验数据表明,在干扰磁场较强且人为改变干扰磁场的情况下,最大航向误差为±14.5°,经过自适应补偿后降至±0.2°以内。本算法可以精确地、自适应地对磁罗盘航向误差进行补偿,非常适合在周围磁场易变化的环境中使用。To compensate the heading error of electronic magnetic compass（EMC） accurately and enhance the adaptability of EMC to environment, an adaptive compensation algorithm is presented aiming at the EMC and MIMU integrated system. The influence of soft magnetic materials and hard magnetic materials on the heading angle of EMC is analyzed, and the heading error model of the EMC is built. The model parameters are taken as the state variables of the Kalman Filter（KF）, the error model parameters are estimated to adapt to the current magnetic field with the support of MIMU. The observations of KF consist of conventional observations and flexible observations, and the flexible observations increase the weight of current direction while estimating the error model parameters, which improves the error compensation precision for current direction. The experiment results show that in the environment with strong and changing magnetic interference, the maximum heading error decreases from ±14.5°to ±0.2° after adaptive compensation. This method can accurately and adaptively compensate the heading error of EMC, so it is suitable for using in the environment with complex and changing magnetic field.

关 键 词：电子磁罗盘 航向误差 卡尔曼滤波器 自适应补偿 

分 类 号：V241.611[航空宇航科学与技术—飞行器设计] TH74[机械工程—光学工程]