双轴地磁传感器的参数标定与误差补偿

Parameter Calibration and Error Compensation of Biaxial Geomagnetic Sensor

针对在双轴地磁传感器与卫星组合测量弹丸姿态的系统中双轴地磁传感器容易受外界误差因子干扰的问题,通过分析影响地磁传感器测量精度的误差因子,提出了一种参数标定和基于椭圆旋转的误差补偿算法。首先,假设双轴地磁传感器存在虚拟x轴,对传感器的误差因子进行建模,得到误差补偿模型;其次,对传感器双轴输出表达式中的参数进行标定;对双轴的测量值集合形成的椭圆进行旋转;最后,计算误差补偿模型中的6个参数。三轴无磁转台实验数据分析表明,该方法可以将双轴地磁传感器测量滚转角的误差精度控制在±2°之间,基本满足了弹丸姿态测量的要求。

Aiming at the problem that the biaxial geomagnetic sensor is easy to be interfered by the external error factors in the system of biaxial geomagnetic sensor and satellite combined measurement of projectile attitude, the paper analyzes the error factors that affect the measurement accuracy of the geomagnetic sensor, and proposes a parameter calibration and error compensation algorithm based on elliptical rotation. Firstly, the virtual x-axis is assumed to exist in the biaxial geomagnetic sensor, and the error factor of the sensor is modeled to obtain the error compensation model. Next the parameters in the output expression of the sensor are calibrated. Then the ellipse formed by the measured values of the biaxial is rotated. Finally, six parameters in the error compensation model are calculated. Through the analysis of the experimental data of the three-axis non-magnetic turntable, this method can control the error accuracy of the roll angle of the biaxial geomagnetic sensor within ±2° and basically meet the requirements of the projectile attitude measurement.