摘要
针对传统的磁罗盘补偿方法计算量大、需要标定设备的问题,提出了一种利用陀螺仪相对航向辅助校准的方法。在分析磁罗盘误差的基础上建立了误差模型,采用梯度下降法解出姿态信息对磁场数据进行倾斜补偿,在陀螺仪相对航向角的辅助下,采用最小二乘法拟合经过倾斜补偿后的磁场数据求解出误差模型的系数。实验数据表明,该算法能够有效的对磁罗盘误差进行补偿,可以将磁罗盘的航向角测量误差控制在1°之内。
Against the disadvantage of large amount of calculation and demand calibration equipment for traditional magnetic compass heading correction algorithm,an heading error correction method is proposed which exploit the relative heading.An error model is established on basis of analyzing the magnetic compass error.Making use of the gradient descent method,the attitude information is solved to compensate the magnetic field data.Under the aid of the relative heading of the gyroscope,the least squares method is used to fit the magnetic field data after the tilt compensation to solve the coefficients of the error model.The experimental data show that the algorithm can effectively compensate the magnetic compass error,the error of the heading angle can be controlled within 1°.
作者
徐德昌
蔡成林
李思民
王亚娜
XU Dechang;CAI Chenglin;LI Simin;WANG Yana(Institute of Information and Communication,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)
出处
《电子器件》
CAS
北大核心
2018年第5期1275-1279,共5页
Chinese Journal of Electron Devices
基金
全球普适无缝的IOPS多源融合与协同定位机制研究项目(61771150)
桂林电子科技大学研究生教育创新计划项目(2017YJCX38)
关键词
磁罗盘
航向误差
相对航向
梯度下降法
最小二乘法
magnetic compass
heading error
relative heading
gradient-descent algorithm
least squares method
