摘要
三轴磁强计与三轴加速度计是航姿系统中必不可少的矢量场传感器,其误差校正常采用基于椭球拟合的方法。该方法不能补偿传感器坐标系与载体坐标系间的非对准误差。传感器绕固定转轴旋转时,地磁矢量及重力矢量在转轴上的投影均为常数,利用该性质可克服椭球拟合法的上述缺点,从而实现磁强计与加速度计的完全校正。实验表明,改进的校正方法可使校正后航姿误差减小到1°以内,且操作简单,便于实现航姿系统的现场校正。
The tri-axis magnetometer and tri-axis accelerometer are indispensable vector field sensors in attitude and heading reference system (AHRS), and its error correction is based on the method or ellipsoid fitting. The major defect of this method is that it cannot compensate the misalignment between the sensor coordinate system and the carrier coordinate system. When the sensors rotate around a fixed axis, both the projections of geomagnetic vector and gravity vector on the rotating axis are constant. By using this property, the above-mentioned defect of ellipsoid fitting method can be overcome, and the magnetometer and accelerometer can be completely calibrated. The experiment results show that the improved correction method can reduce the attitude and heading errors to less than 1°, and the operation is simple, which is convenient for on-site calibration of AHRS.
作者
李翔
刘耀华
宋百麒
LI Xiang;LIU Yaohua;SONG Baiqi(School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004,China)
出处
《压电与声光》
CAS
北大核心
2019年第1期157-160,共4页
Piezoelectrics & Acoustooptics
基金
国家自然科学基金资助项目(61361006)
广西自然科学基金资助项目(2015GXNSFBA139253)
广西自动检测技术与仪器重点实验室主任基金资助项目(YQ15107)
关键词
航姿系统
磁强计
加速度计
误差校正
椭球拟合
attitude and heading reference system
magnetometer
accelerometer
error calibration
ellipsoid fitting
