基于改进Levenberg-Marquardt算法的地磁矢量校准方法  

Geomagnetic Vector Calibration Method Based on Improved Levenberg-Marquardt Algorithm

作　　者：宋忠国[1] 许丙琳 高久翔 李婷 张金生 席晓莉[1] SONG Zhongguo;XU Binglin;GAO Jiuxiang;LI Ting;ZHANG Jinsheng;XI Xiaoli(School of Automation and Information Engineering,Xi’an University of Technology,Xi’an Shaanxi 710048,China;Rocket Force University of Engineering,Xi’an Shaanxi 710025,China)

机构地区：[1]西安理工大学自动化与信息工程学院,陕西西安710048 [2]火箭军工程大学,陕西西安710025

出　　处：《传感技术学报》2021年第9期1204-1210,共7页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(51707152);中国博士后科学基金项目(2014M562522XB)。

摘　　要：三轴磁传感器误差校准的椭球拟合方法通常要先求得椭球参数,再通过矩阵分解才能得到误差校准参数,这将导致误差校准参数存在无穷多解。为解决此问题,提出了一种基于改进的Levenberg-Marquardt(LM)算法的地磁矢量校准方法。首先使用质子磁传感器提供地磁场真值,利用改进的LM算法直接求解三轴磁传感器误差校准参数,然后利用加速度计测量恒定重力场作为辅助信息校准三轴磁传感器和加速度计坐标系之间的非对准误差。仿真结果表明,本文提出的方法可以使得三轴磁传感器测量地磁总场的均方根误差减小两个数量级,测量地磁分量的均方根误差减小一个数量级;实验结果表明该方法能够大大提高三轴磁传感器测量精度,最终获得加速度计坐标系下的高精度地磁场矢量。The ellipsoid fitting method for the error calibration of three-axis magnetic sensors usually requires the ellipsoid parameters to be desired first,and then the error calibration parameters(ECP)can be obtained by matrix decomposition,which will cause infinite solutions of the ECP.For solving it,a geomagnetic vector calibration method based on improved Levenberg-Marquardt(LM)algorithm is proposed.Firstly,the proton magnetometer is used to provide the true value of the geomagnetic field,and the improved LM algorithm is used to solve the ECP of the error of three-axis magnetic sensor(TMS)directly without matrix decomposition.Then,the constant gravitational field measured by the accelerometer is used as auxiliary information to calibrate the misalignment error between TMS and the coordinates system of accelerometer.Simulation results show that the proposed method can make the root mean square error of total value of geomagnetic filed measured by the three-axis magnetometer decreases two orders of magnitude,and the root mean square error of the component decreased one orders of magnitude.Experimental results show that the proposed method can make the accuracy of the three-axis magnetometer are promoted greatly,finally,the high-accuracy geomagnetic field vector under the accelerometer coordinate system is obtained.

关 键 词：三轴磁传感器 矢量校准 非线性最小二乘 改进Levenberg-Marquardt算法 

分 类 号：TH762.3[机械工程—仪器科学与技术]