一种简单的低成本航姿系统标定及修正方法  

A Straightforward Calibration and Correction Technique for Inexpensive Attitude and Heading Reference Systems

作　　者：翟张斌 张晓明[2] 安永泉[1] 薛英娟[3] ZHAI Zhangbin;ZHANG Xiaoming;AN Yongquan;XUE Yingjuan(School of Information and Communication Engineering,North University of China,Taiyuan 030051,China;State Key Laboratory of Electronic Testing Technology,North University of China,Taiyuan 030051,China;School of Innovation and Entrepreneurship,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学信息与通信工程学院,太原030051 [2]中北大学电子测量技术国家重点实验室,太原030051 [3]中北大学创新创业学院,太原030051

出　　处：《计算机测量与控制》2024年第4期232-240,共9页Computer Measurement &Control

摘　　要：在对低成本航姿系统进行加速度计与磁力计的标定中,通常磁力计的信噪比更低,仅使用椭球拟合法标定传感器误差参数结果是不够精确的;为了提高标定结果的准确性,提出了一种在多位置条件下基于椭球拟合约束和点积法的误差参数标定及修正方法;首先,在静态多位置下获取15对低噪声的测量数据并进行椭球拟合标定,其次,用补偿后的磁力计数据分布特征构建椭球约束条件,通过点积法计算地磁矢量与水平面夹角,并以其均方差来量化修正效果,对磁力计中可观性差的轴间不正交误差参数和传感器间非对准误差参数进行修正,最终提升标定效果;仿真和实测的试验结果表明,在同等椭球拟合约束下,该方法相比于独立使用椭球拟合法和点积不变法,地磁矢量与水平面夹角的均方差下降了25%以上,且具有简单易用的特点。In the calibration of accelerometers and magnetometers for inexpensive attitude and heading reference systems,due to the lower signal-to-noise ratio of magnetometers,it is not accurate enough to calibrate the error parameters of sensors by using only ellipsoidal fitting.Based on ellipsoid fitting constraints and dot product method,an error parameter calibration and correction method under multi-position conditions is proposed to improve the accuracy of the calibration results.Firstly,15 pairs of low-noise measurement data are acquired at static multiple positions and calibrated by the ellipsoid fitting method.Secondly,the data distribution characteristics of the compensated magnetometer are used to construct the ellipsoidal constraints,the angle between the geomagnetic vector and horizontal plane is calculated by the dot product method,with a quantitative correction effect of its mean square error.It modifies the non-orthogonal error parameters between the inter-axes of magnetometers with a poor observable ability and the asymmetric error parameters between sensors.Finally,the calibration results are increased.Simulated and measured experimental results show that compared to the ellipsoid fitting and dot product invariant methods under the same ellipsoid fitting constraints,this method reduces the mean square error of the angle between the geomagnetic vector and horizontal plane by over 25%,and this method has the characteristics of simplicity and ease of use.

关 键 词：磁力计标定 静态多位置 椭球约束 点积法 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]