一种新的电子罗盘校准算法研究  

Research on a New Electronic Compass Calibration Algorithm

作　　者：晁正正 张晓明[1] 马喜宏[1] 吕辰 陈雷 李小燕 CHAO Zhengzheng;ZHANG Xiaoming;MA Xihong;LU Chen;CHEN Lei;LI Xiaoyan(North University of China Science and Technology on Electronic Test & Measurement Laboratory,Taiyuan 030051,China)

机构地区：[1]中北大学电子测试技术科技重点实验室,太原030051

出　　处：《传感技术学报》2019年第1期106-110,共5页Chinese Journal of Sensors and Actuators

基　　金：基于磁场集聚与纳米颗粒敏感的仿信鸽磁矢量传感器研究项目(51375463)

摘　　要：针对复杂磁环境下磁强计误差补偿算法效果不理想而导致电子罗盘精度较低的问题,本文对磁强计的误差来源进行了详细分析与建模,提出了一种基于模拟退火算法(SA)的空间椭球磁强计校正方法,采用模拟退火算法,对磁强计测量数据进行空间椭球拟合,用估计的参数进行刻度系数与软磁干扰、硬磁干扰与零点偏移的整体误差补偿。最后,利用最小二乘法求解出非正交轴的方向余弦,进行非正交误差和安装误差补偿。最终利用设计的算法对某电子罗盘系统进行了航向角误差对比试验,实验结果表明该方法能准确计算出磁强计的误差参数,实测航向角精度从4.5°提高到0.4°,提高了一个数量级。该方法在电子罗盘的校准中具有了一定的工程参考价值。In view of the problem that the accuracy of magnetometer error compensation algorithm in complex magnetic environment is not ideal and results in low accuracy of electronic compass,This paper analyzes and models the error sources of magnetometer in detail,proposing an algorithm based on simulated annealing(SA).Spatial ellipsoid magnetometer calibration method using a simulated annealing algorithm to fits the magnetometer measurement data to a spatial ellipsoid fit,using the estimated parameters for scale factor and soft magnetic interference,hard magnetic interference,and zero offset for overall error compensation.Finally,the least squares method is used to solve the direction cosine of the non-orthogonal axis,non-orthogonal error and installation error compensation are performed.Finally,a heading angle error comparison test was performed on an electronic compass system using the designed algorithm.Finally,the course angle error comparison test of an electronic compass system is carried out by using the designed algorithm.The experimental results show that this method can accurately calculate the error parameters of the magnetometer,the measured course Angle accuracy is improved from 4.5°to 0.4°,which improves an order of magnitude.This method has a certain engineering reference value in the calibration of electronic compass.

关 键 词：地磁导航 电子罗盘 椭球拟合 模拟退火算法 误差校准 

分 类 号：V241.61[航空宇航科学与技术—飞行器设计]