摘要
针对磁场干扰较大导致组合导航定位中磁强计解算航向角严重失准的问题,提出一种磁强计的磁场干扰补偿方法。分析了磁强计输出模型,利用陀螺仪求解的航向角差、横滚角和俯仰角,建立磁场干扰模型。将三轴磁场干扰转化为两轴磁场干扰,再采用最小二乘拟合法对其进行估计并补偿,输出补偿后的航向角。在人为设置磁场干扰源的条件下进行转台实验,实验结果表明,该方法补偿后的磁强计磁场干扰得到有效抑制,航向角精度有效提高。
Aiming at the problem of severe misalignment of heading angle calculated by magnetometer in integrated navigation and positioning system with large magnetic interference,a magnetic interference compensation method for magnetometer is proposed.The output model of magnetometer is analyzed,and the magnetic field interference model is established by using the yaw angle difference,roll angle and pitch angle solved by gyroscope.The three axis magnetic field interference is converted into two axis magnetic field interference,which is estimated and compensated by the least squares,and the resulting heading angle is output.The experiment results show that the magnetic interference of the magnetometer compensated by this method is effectively suppressed and the heading accuracy is effectively improved.
作者
曾成
李文霄
ZENG Cheng;LI Wengxiao(School of Electronic and Information Engineering,Hebei University of Technology,Tianjin 300401,China;Tianjin Key Laboratory of Electronic Materials and Devices,Tianjin 300401,China)
出处
《燕山大学学报》
CAS
北大核心
2020年第1期49-54,共6页
Journal of Yanshan University
基金
国家自然科学基金资助项目(61501167)
关键词
磁强计
陀螺仪
干扰补偿
最小二乘法
航向角
magnetometer
gyroscope
error correction
least square method
heading angle
