基于非迭代椭球拟合算法的电子罗盘标定方法  

A Calibration Method of Magnetic Compass Based on Non-iterative Ellipsoid Fitting

作　　者：支祖伟 高可 储志伟 林威 林新华[1] ZHI Zuwei;GAO Ke;CHU Zhiwei;LIN Wei;LIN Xinhua(State Key Laboratory of Transducer Technology,Institute of Intelligent Machines,Chinese Academy of Science,Hefei 230031,China;Department of Automation,University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]中国科学院合肥物质科学研究院智能机械研究所,安徽合肥230031 [2]中国科学技术大学研究生院科学岛分院,安徽合肥230026

出　　处：《仪表技术》2020年第9期3-6,共4页Instrumentation Technology

基　　金：中科院先导专项(XDAXDA22030305)。

摘　　要：体积小、响应快、功耗小的电子罗盘通过感知地球磁场矢量的方向获得方位角信息,广泛应用于导航领域。但由于存在偏置、灵敏度系数不一致、非正交或未对准引起的误差,导致电子罗盘信号扭曲,发展有效的标定校准方法一直是电子罗盘领域的研究重点。本文针对引起罗盘误差的各个因素,采用了基于椭球假设的误差模型,并给出了一种基于矩阵分解的非迭代椭球拟合算法。基于该算法的标定方法不需要参考设备,适合现场标定,同时避免复杂的迭代计算,并且能够确保始终有最优解。经过校准后的电子罗盘在水平状态下最大绝对误差不超过0.9°,表明了该方法的有效性。Electronic compasses are widely used in navigation because of their small size,fast response and low power consumption.However,the existence of errors caused by the bias,inconsistent sensitivity coefficient,non-orthogonal or misalignment results in the distortion of electronic compass signals.Thus,the development of an effective calibration method has always been the focus of electronic compass research.In this paper,the error model based on ellipsoid hypothesis is used to solve the various factors causing compass error,and a non-iterative ellipsoid fitting method based on matrix decomposition is presented.The calibration method based on this algorithm avoids complex iterative calculation and can ensure that there is always an optimal solution.In addition,the method does not need orientation reference equipment and is suitable for field calibration.The maximum absolute error of the calibrated electronic compass in the horizontal state is no more than 0.9°,indicating the effectiveness of the method.

关 键 词：导航 电子磁罗盘 标定 非迭代椭球拟合 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]