基于最小二乘的水下机器人磁力计标定

Calibration of Magnetometer for Underwater Vehicle Based on Least Squares Method

为了在缆控水下机器人(ROV)运行时获得准确的航向信息,提出了一种基于最小二乘的椭球拟合方法对ROV的MEMS磁力计进行标定。通过分析磁力计的主要误差构成,建立误差模型,并基于最小二乘椭球拟合方法对ROV磁力计进行标定实验。实验结果表明:经过标定后,得到磁力计误差模型中各参数的最优值。同时,磁感应强度得到修正,与球心落在原点,半径为20.9858μT的三维球体较为吻合,修正后磁感应强度接近理论磁场强度,残差在-3μT~2μT范围内波动,且残差均值为-0.1650μT。说明了磁力计标定结果较为理想。

In order to obtain more accurate magnetic induction intensity data for the remotely operated vehicle(ROV)in operation,a least-squares ellipsoidal fitting method is proposed to calibrate the MEMS magnetometer on ROV.The error model is established by analyzing the main error components of the magnetometer,and the calibration experiments of ROV magnetometer are carried out based on the least-squares ellipsoidal fitting method.The experimental results show that the parameters in the magnetometer error model are calibrated to near-optimal values.At the same time,the magnetic induction intensity is corrected,which is in good agreement with the three-dimensional sphere with the center of the sphere at the origin and the radius of 20.9858μT.The corrected magnetic induction in-tensity is close to the theoretical magnetic field intensity,and the residual error fluctuates within the range of-3μT~2μT,with the av-erage residual error of-0.1650μT,showing that the calibration result of the magnetometer is satisfactory.