高精度磁信标中心位置与姿态角标定方法

High-precision calibration method for position and attitude angle of magnetic beacon

针对磁信标导航中磁信标实际产生磁场中心与姿态角难标定的问题,提出一种基于低频时变磁场特征矢量的高精度磁信标标定方法。首先根据磁信标在三维空间中的磁场模型,利用多个位置与姿态已知的磁强计对待标定磁信标进行测量,解算实际磁场中心位置。再根据磁场中心位置与磁强计测量到的磁场方向矢量解算实际磁场的坐标轴姿态角,实现对磁信标的高精度标定。仿真条件下,磁信标中心位置标定精度可达0.009 m,姿态角精度可达0.13°;在实际实验中,目标位置与姿态角解算精度相比传统方法分别提高了28.6%与62.8%,充分验证所提方法具有更高的可靠性与有效性。利用该方法标定后的磁信标为磁信标导航系统提供了更可靠、精确、适应性更强的时变磁场信号源。

Aiming at the problem that the actual magnetic field center and coordinate generated by magnetic beacon is usually inconsistent with the ideal situation,a high-precision calibration method of magnetic beacon based on low frequency time-varying magnetic field characteristic vector was proposed.Firstly,according to the magnetic field model of magnetic beacon in 3D space,the uncalibrated magnetic beacon is measured by magnetometers with known positions and attitudes to calculate central position of the actual magnetic field.Then the coordinate axis attitude angle of the actual magnetic field is calculated by the central position of the magnetic field and the direction vector measured by the magnetometer to calibrate magnetic beacons accurately.In the simulation experiment,the precision of the magnetic field center and attitude can reach to 0.009 m and 0.13°.In practical experiments,the precision of positioning and attitude solution is improved by 28.6%and 62.8%compared with the traditional geometric estimation method,which verify the reliability and effectiveness of the proposed method.The magnetic beacon calibrated by the proposed method provides a more reliable,accurate and adaptable time-varying magnetic field signal source for the navigation system.