自动磁通门经纬仪多参量误差补偿算法

Multi-parameter error compensation algorithm for automatic fluxgate theodolite

自动磁通门经纬仪是地磁绝对观测中测量磁偏角和磁倾角的重要仪器,在测量过程中目前存在横轴与磁轴的不正交误差、磁通门传感器零点偏移误差、电机停止误差和竖轴倾斜误差。为了提高仪器测量精度,利用多体系统理论建立了磁通门传感器输出模型,并基于该模型和"四位置测量法"提出了磁偏角和磁倾角的多参量误差补偿算法。补偿算法通过传感器指向与地磁矢量正交的4个特定位置进行测量,可消除不正交误差和传感器零偏。针对测量过程中存在的电机停止误差和竖轴倾斜误差,补偿算法可进行修正。利用模拟数据进行的仿真实验表明,补偿算法可对±10′以内的电机停止误差和竖轴倾斜误差进行补偿。在台站完成的实测实验表明,补偿算法使测量误差减小到3″以内,满足仪器测量的需求。

The automatic fluxgate theodolite is an important instrument for measuring the geomagnetic declination and geomagnetic inclination in the absolute observation of geomagnetism. There are non-orthogonal errors of the horizontal axes and magnetic axes, zero offset error of the fluxgate sensor, motor stop deviation and vertical axis tilt deviation during the measurement. In order to improve the measurement accuracy of the instrument, the multi-body system theory is used to establish the output value model of the fluxgate sensor in this paper. Based on the model and the "four-position measurement method", the multiple parameter error compensation algorithm for magnetic declination and inclination is proposed. The compensation algorithm performs measurement through the sensor pointing to four specific positions perpendicular to the geomagnetic vector, which can eliminate non-orthogonal error and sensor zero offset. The compensation algorithms can effectively correct the motor stop deviation and vertical axis tilt deviation during the measurement process. Simulation experiments on simulation data show that the algorithm can effectively compensate the motor stop error and vertical axis tilt error within ±10′. The actual measurement experiments completed at the geomagnetic station show that the compensation algorithm reduces the measurement error to within 3″ and meets the instrument measurement requirements.