一种基于抗差M估计的电子罗盘航向误差补偿算法

An Electronic Compass Heading Error Compensation Algorithm Based on Robust M-estimation

针对磁场异常值影响电子罗盘航向误差补偿精度的问题,提出了一种基于抗差M估计的电子罗盘航向误差补偿算法。通过分析载体磁场影响下电子罗盘的输出特点,构建了电子罗盘测量误差模型;在带椭圆约束的最小二乘算法的基础上引入了抗差M估计,有效降低了磁场异常值对电子罗盘航向误差补偿效果的影响。利用MCL601型电子罗盘与图像全站仪固联构建的组合系统,在天文观测墩上进行实验。实验结果表明:抗差M估计补偿算法能够有效降低磁航向角误差,与带椭圆约束的最小二乘算法相比,可将磁航向角最大误差由0.16°降至0.08°,中误差由±0.09°降至±0.04°。

An electronic compass heading error compensation algorithm based on robust M-estimation is proposed to reduce the influ-ence of magnetic outliers on electronic compass heading error compensation.By analyzing the output of the electronic compass under the influence of the carrier magnetic field,the measurement error model of the electronic compass is constructed.Based on the least squares algorithm with elliptic constraint,the robust M-estimation is introduced to reduce the influence of magnetic outliers on elec-tronic compass heading error compensation effectively.The combined system,composed of MCL601 electronic compass and image to-tal station,is used to conduct experiments on the astronomical observation platform.The experimental results show that the compensa-tion algorithm based on robust M-estimation can effectively reduce the magnetic heading angle error,the maximum error of magnetic heading angle reduced from 0.16°to 0.08°and the mean square error reduced from±0.09°to±0.04°compared with the least squares algorithm with elliptic constraint.