基于准静态磁场检测的姿态解算方法  

Attitude calculating method based on detection ofquasi-static magnetic field

作　　者：郭慧泉 武杰[1] GUO Huiquan;WU Jie(Department of Modern Physics,University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]中国科学技术大学近代物理系,安徽合肥230026

出　　处：《传感器与微系统》2020年第7期11-14,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(41574106);国家科技重大专项项目(2017ZX05008-008-041);国家重大科研装备研制项目(ZDYZ2012-1-05-03)。

摘　　要：针对在多传感器数据融合过程中,当磁力计受到环境中非地磁磁场影响时姿态解算会出现误差这一问题,提出了一种新的准静态磁场检测方法。根据磁力计和陀螺仪计算得到的航向角的差异大小,来确定磁场是否处于准静态,从而决定下一步数据融合是否采用磁力计数据。实验表明:这种方法可以和现有的几种准静态磁场检测方法相互补充,能更好地识别干扰磁场,从而减少干扰磁场对姿态解算的影响,提高姿态解算的准确性。Aiming at the problem that in the process of multi-sensor data fusion,when the magnetometer is affected by the non-geomagnetic field in the environment,the error will occur in attitude calculating,a new quasi-static magnetic field detection method is proposed.The method determines whether the magnetic field is in quasi-static according to the difference in the heading angle calculated by the magnetometer and the gyroscope,thereby determining whether the data fusion is performed using the magnetometer data.Experiments show that this method can complement the existing quasi-static magnetic field detection methods,and can better identify the perturbed magnetic field,thus reducing the influence of the perturbed magnetic field on the attitude calculation and improving the accuracy of the attitude calculation.

关 键 词：姿态解算 磁干扰 准静态磁场检测 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]