[1]曾成,李文霄.组合导航中磁强计干扰估计与补偿方法[J].燕山大学学报,2020,44(1):049-54.[doi:10.3969/j.issn.1007-791X.2020.01.007]
 ZENG Cheng,LI Wengxiao.Interference estimation and compensation method of magnetometer in integrated navigation[J].Journal of YanShan University,2020,44(1):049-54.[doi:10.3969/j.issn.1007-791X.2020.01.007]
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组合导航中磁强计干扰估计与补偿方法
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
44
期数:
2020年第1期
页码:
049-54
栏目:
计算机与控制工程
出版日期:
2020-01-31

文章信息/Info

Title:
Interference estimation and compensation method of magnetometer in integrated navigation
文章编号:
1007-791X(2020)01-0049-06
作者:
曾成12*李文霄 1
1.河北工业大学 电子信息工程学院,天津 300401;2.天津市电子材料与器件重点实验室,天津 300401
Author(s):
ZENG Cheng12LI Wengxiao 1
(1. School of Electronic and Information Engineering,Hebei University of Technology, Tianjin 300401, China;
2. Tianjin Key Laboratory of Electronic Materials and Devices, Tianjin 300401, China)

关键词:
磁强计陀螺仪干扰补偿最小二乘法航向角
Keywords:
magnetometer gyroscope error correction least square method heading angle
分类号:
V241.6
DOI:
10.3969/j.issn.1007-791X.2020.01.007
文献标志码:
A
摘要:
针对磁场干扰较大导致组合导航定位中磁强计解算航向角严重失准的问题,提出一种磁强计的磁场干扰补偿方法。分析了磁强计输出模型,利用陀螺仪求解的航向角差、横滚角和俯仰角,建立磁场干扰模型。将三轴磁场干扰转化为两轴磁场干扰,再采用最小二乘拟合法对其进行估计并补偿,输出补偿后的航向角。在人为设置磁场干扰源的条件下进行转台实验,实验结果表明,该方法补偿后的磁强计磁场干扰得到有效抑制,航向角精度有效提高。

Abstract:
Aiming at the problem of severe misalignment of heading angle calculated by magnetometer in integrated navigation and positioning system with large magnetic interference,a magnetic interference compensation method for magnetometer is proposed. The output model of magnetometer is analyzed,and the magnetic field interference model is established by using the yaw angle difference,roll angle and pitch angle solved by gyroscope. The three axis magnetic field interference is converted into two axis magnetic field interference,which is estimated and compensated by the least squares,and the resulting heading angle is output. The experiment results show that the magnetic interference of the magnetometer compensated by this method is effectively suppressed and the heading accuracy is effectively improved.

备注/Memo

备注/Memo:
收稿日期:2019-03-19          责任编辑:孙峰
基金项目:国家自然科学基金资助项目(61501167)
作者简介:*曾成(1971-),男,湖南株洲人,博士,副教授,主要研究方向为基于MEMS传感器的室内导航定位技术,Email:zeng_ch@126.com。

更新日期/Last Update: 2020-03-20