摘要
在地磁导航应用中,地磁场的测量不可避免地会受到载体磁场的影响,降低了地磁导航的精度,因此必须对地磁测量数据中的载体磁场实时快速进行补偿.在详细分析载体上硬铁材料、软铁材料产生磁场在载体运动过程中的特性的基础上,提出了一种快速载体磁场标定及补偿方法.该方法本质上是将载体磁场补偿问题转化为椭圆拟合问题,利用带椭圆约束的最小二乘拟合方法对多于6个航向的捷联式三轴磁传感器测量数据进行椭圆拟合,进而实现载体磁场的快速标定和补偿.通过仿真试验表明,该方法具有简单快速,易于实现的特点,可以达到与磁传感器等精度的补偿效果,且在低信噪比情况下具有较强的鲁棒性.
In geomagnetic navigation application, it is unavoidable that the geomagnetic vector measurement is disturbed by the magnetic field of vehicle, which will decrease the navigation accuracy. The magnetic field of vehicle must be compensated rapidly to implement the high accuracy geomagnetic navigation. The measurement errors of the strapdown magnetic sensor are analyzed and modeled firstly. Then a novel magnetic compensation method is presented. The method translates magnetic compensation into ellipse fitting in essential. The proposed method adopts the least square algorithm under ellipse restriction, rather than common iterative algorithms, for fitting an ellipse to the scattered or noisy measured data, and implements the rapid compensation of the magnetic field of vehicle. Several sets of experiments have been carried out to assess the method validity. The results indicate the proposed method is a simple, stable and robust magnetic compensation method which can be easily implemented.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2009年第3期286-291,共6页
Journal of North University of China(Natural Science Edition)
基金
中国航天支撑技术基金资助项目
关键词
地磁导航
误差分析
磁场补偿
椭圆拟合
geomagnetic navigation
error analysis
magnetic compensation
ellipse fitting
