简化磁力计非线性误差模型的快速校正算法

Research on rapid calibration algorithm for simplified nonlinear error model of magnetometer

针对传统的磁力计校正算法中存在的误差模型复杂、计算时间长、需要保持水平姿态和已知航向信息等弊端,该文从磁力计误差特性入手,推导并建立了简化的磁力计非线性等效误差模型。基于动态调整策略对传统的LM算法进行改进,并利用改进的LM算法求解误差模型,减少计算过程中的迭代次数,实现了磁力计误差的快速估计。实验表明,该方法在有效保证磁力计校正精度的前提下,迭代次数减少25%,计算速度提高了65.59%。

In view of the shortcomings of the traditional magnetometer calibration algorithm,such as the complex error model,long calculation time,the need to maintain the horizontal attitude and given course information etc,a simplified nonlinear equivalent error model of magnetometer was derived and established firstly based on the error characteristics of magnetometer.The traditional LM algorithm was improved based on the dynamic adjustment strategy,after that the improved LM algorithm was used to solve the error model to reduce the iterations in the calculation process.In this way,the rapid estimation of magnetometer error was realized.The experimental results showed that the iteration times were reduced 25%and the calculation speed was improved 65.59%by the proposed method on the premise of effectively ensuring the magnetometer calibration accuracy.