基于最小二乘法和卡尔曼滤波算法的平面电子罗盘误差补偿方法研究

Study on Error Compensation Method of Planar Electronic Compass Based on Least Square Method and Kalman Filter Algorithm

为解决电子罗盘易受外部环境的硬、软磁干扰产生的零点漂移和随机误差问题,基于最小二乘法对电子罗盘零点漂移进行补偿后,对随机误差采用卡尔曼滤波算法进行补偿;结合Allan方差分析法对实验结果进行综合评价,采用最小二乘法和卡尔曼滤波算法对实验数据进行补偿后,量化噪声和零偏不稳定性噪声的Allan方差值分别降低了82. 8%和77. 9%。结果表明,该方法能有效补偿硬、软磁干扰对电子罗盘所造成的影响。

In order to solve the problem that the electronic compass is vulnerable to the zero drift and random error caused by the hard and soft magnetic interference of the external environment,after the electronic compass zero drift problem is compensated based on the least squares method,the random error is compensated by the Kalman filter algorithm;Allan analysis of variance was used to comprehensively evaluate the experimental results. After using the least squares method and Kalman filter algorithm to compensate the experimental data,the Allan variance of quantization noise and zero-bias instability noise decreased by 82. 8% and 77. 9%,respectively. The result show that the method can effectively compensate the impact of hard and soft magnetic interference on the electronic compass.