电子罗盘测量误差的分步式自主校正算法  

A Two-step Autonomous Compensation Algorithm for Measuring Error of Electronic Compass

作　　者：路辉 张超[1] 李崇辉[1] 李帅 佟帅 刘梓豪 LU Hui;ZHANG Chao;Ll Chonghui;Ll Shuai;TONG Shuai;LIU Zihao(Information Engineering University,Zhenghou 450001,China;96766 Troops,Xinyang 464000,China;96608 Troops,Luoyang 471000,China)

机构地区：[1]信息工程大学,河南郑州450001 [2]96766部队,河南信阳464000 [3]96608部队,河南洛阳471000

出　　处：《测绘科学技术学报》2024年第4期362-368,共7页Journal of Geomatics Science and Technology

基　　金：国家自然科学基金项目(41804031)。

摘　　要：针对电子罗盘椭球拟合校正算法的误差残留问题,提出了一种基于遗传算法GA(Genetic Algorithm)的分步式自主校正算法,实现了对电子罗盘剩余误差的校正。从电子罗盘定向原理及误差模型出发,分析了椭球拟合校正算法的原理及局限性,针对剩余误差的非线性引入遗传算法并对剩余误差进行了估计。实验结果表明:分步式自主校正算法能够有效地估计误差模型全部参数,消除椭球拟合校正算法的剩余误差。在俯仰角为30°、滚动角为30°的姿态下,分步式自主校正算法可在椭球拟合算法的基础上将航向角最大误差由1.9°降至0.49°,中误差由±1.19°降至±0.19°。A two-step autonomous compensation algorithm based on Genetic Algorithm is proposed to furtherly calibrate the error of the electronic compass aiming to improve the compensation result of the classical ellipsoid fitting model.Firstly,based on the orientation principle and the error model of electronic compass,the algorithm and the limitations of the ellipsoid fitting compensation model are analyzed.The genetic algorithm is introduced to fit the non-linear residual error and the misalignment error angle is estimated.The experimental results show that all parameters of the error model can be effectively estimated by the two-step autonomous compensation algorithm,and the residual error of the ellipsoid fitting correction algorithm is eliminated considerably.When the pitch angle is 30°and the roll angle is 30°,the two-step autonomous compensation algorithm reduces the maximum heading angle error from 1.9°to 0.49°,and the RMSE from±1.19°to±0.19°,combined with the ellipsoid fitting algorithm.

关 键 词：电子罗盘 带约束最小二乘 椭球拟合 遗传算法 误差校正 

分 类 号：P222[天文地球—大地测量学与测量工程]