三分量磁传感器倾斜放置时的磁场测量方法

Magnetic Field Measuring Method for Slantly Placed 3-components Sensors

针对三分量磁传感器在使用时安装倾斜易引起较大测量误差的问题,提出了三分量磁传感器倾斜放置时的磁场测量方法。该方法采用三个等效姿态角α、β、γ表示传感器的倾斜姿态,建立转换矩阵对磁场测量值进行修正。在仅利用地磁场无法唯一确定姿态角的情况下,引入已知辅助磁场,形成第二背景磁场,通过PSO算法求出传感器的姿态角,然后利用转换矩阵对目标磁场三分量测量值进行修正。随机挑选了2个磁传感器进行实验验证,实验结果表明,传感器倾斜放置时目标磁场的测量值经该方法修正后的值接近目标磁场的真实测量值,能够满足实际工程应用的需要。

To solve the problem that when the 3-axial magnetometer was slantly fixed, which could cause big error. A magnetic field measuring method was proposed. The method used 3 equivalent pose angles （a ,β and γ） to represent the sensor＇s sloping pose and founded a transform matrix to correct the measured value of the mag-netic field. As the unique solution of the pose angles could not be gotten only by the local geomagnetic field, a known accessorial magnetic field was added to form the second background field. Then the pose angles could be calculated by PSO algorithm, and the measured value of the objective field could be corrected by the transform matrix. The experiment results of the 2 randomly chosen sensors showed that the value of the slantly placed sen-sor corrected by this method was close to the actual value of the objective field, and it could satisfy the demands of practical engineering.