航姿系统三轴磁强计动态校正研究  

Research on Dynamic Calibration of Tri-Axial Magnetometer in Attitude and Heading Reference System

作　　者：李翔[1] 刘晓琴 宋百麒 LI Xiang;LIU Xiaoqin;SONG Baiqi(School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学电子工程与自动化学院,广西桂林541004

出　　处：《电子器件》2020年第4期913-917,共5页Chinese Journal of Electron Devices

基　　金：国家自然科学基金项目(41761087,61603107);广西高校中青年教师科研基础能力提升项目(2019KY0224)。

摘　　要：航姿系统中的三轴磁强计通过测量地磁场推算方位角或航向角。三轴磁强计常用校正方法仅对静态误差进行建模和补偿,未考虑磁强计的动态响应特性。然而,磁强计输出的滞后特性将使航向角在动态下出现较大误差,且无法通过常用校正算法进行补偿。针对该问题提出了直接动态校正和间接动态校正两种方法,前者借助外部基准提供磁场真值进行磁强计动态特性补偿,后者则在双内积法的基础上利用重力矢量辅助进行动态特性补偿。实验表明两种方法均可使航向角动态均方根误差减小到1.5°以内。Tri-axial magnetometer in attitude and heading reference system can help to estimate yaw or heading angle by measuring the geomagnetic field.The commonly used calibration methods for tri-axial magnetometer only model and compensate the static errors,without considering the dynamic response characteristics of magnetometer.However,the hysteresis characteristic of magnetometer outputs can cause large heading error under dynamic condition,and it cannot be compensated by traditional calibration algorithms.Two approaches are presented to solve the above problem,namely direct dynamic calibration and indirect dynamic calibration.The former algorithm uses true values of magnetic field from external reference to implement dynamic characteristic compensation for magnetometer,while the latter make use of dual inner products calibration method in conjunction with gravity vector aided dynamic characteristic compensation.Experiments show that both the proposed methods can reduce the dynamic root mean square error of heading angle to less than 1.5°.

关 键 词：航姿系统 磁强计 动态误差 校正算法 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TM937[自动化与计算机技术—控制科学与工程]