航向测量系统中三轴磁传感器标定的等效两步法  

Equivalent two-step algorithm for the calibration of three-axis magnetic sensor in heading measurement system

作　　者：石岗[1,2,3] 李希胜[1,4] 李雪峰[1] 刘艳霞[5] 康瑞清[1] 舒雄鹰[1] Shi Gang Li Xisheng Li Xuefeng Liu Yanxia Kang Ruiqingl Shu Xiongying(School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China College of Information and Control Engineering, China University of Petroleum, Qingdao 266580, China Shengli College, China University of Petroleum, Dongying 257061, China Beijing Engi~ering Research Center of Industrial Spectrum Imaging, Beijing 100083, China College of Automation, Beijing Union University, Beijing 100101, China)

机构地区：[1]北京科技大学自动化学院,北京100083 [2]中国石油大学(华东)信息与控制工程学院,青岛266580 [3]中国石油大学胜利学院,东营257061 [4]北京市工业波谱成像工程技术研究中心,北京100083 [5]北京联合大学自动化学院,北京100101

出　　处：《仪器仪表学报》2017年第2期402-407,共6页Chinese Journal of Scientific Instrument

基　　金：国家自然科学基金(61273082)项目资助

摘　　要：针对航向测量系统中三轴磁传感器误差参数标定问题提出了等效两步法。通过奇异值分解将测量模型等效为一组坐标变换,分析误差参数的几何意义及等效变换方法的意义与特点,依据几何意义将标定过程分为两步进行,即等效传感器坐标系标定及等效非对准标定。利用椭球面方程系数计算等效传感器坐标系误差参数,明确椭球法标定参数的几何意义;应用主成分分析法进行等效非对准标定,分析传统主成分分析法产生符号错误及非正交问题的原因与影响,并研究符号修正与正交修正方法。等效两步法的标定过程不需要航姿参考、地磁信息及辅助传感器,实验表明其航向角校正精度与点积不变法相当。Based on the equivalent transformation of measurement model and geometric meaning,an equivalent two-step algorithm is proposed for the calibration of three-axis magnetic sensor.The calibration is divided into two steps： the equivalent sensor frame calibration and the equivalent misalignment calibration.The significance and characteristics of the equivalent transformation analysis method are described in the study.The calculation formula of the parameters in the equivalent sensor coordinate system is derived and the geometric meaning of parameters calibrated by the ellipsoid method is defined.The principal component analysis is utlized in the equivalent misalignment calibration,correspondingly,the sign inversion and nonorthogonality defects are analyzed as well as; the correction algorithms are studied.The equivalent two-step algorithm can calibrate three-axis magnetic sensor without external attitude information,geomagnetic information and auxiliary sensors.Experiments show that its calibration accuracy is close to that of dot product invariance algorithm.

关 键 词：航向测量 三轴磁传感器 等效变换 椭球法 主成分分析 

分 类 号：TH762.3[机械工程—仪器科学与技术] V241.611[机械工程—精密仪器及机械]