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Method for dynamically calculating and correcting course angle of navigation system of magnetometer

A technology of navigation system and correction method, which is applied in the direction of navigation computing tools, measuring devices, instruments, etc.

Active Publication Date: 2014-07-30
SOUTHEAST UNIV
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Problems solved by technology

However, most of the methods only consider the correction and compensation of the magnetometer by the navigation system when the external magnetic field environment does not change.
Therefore, these methods have limitations and are not suitable for situations where the external magnetic field changes in real time

Method used

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  • Method for dynamically calculating and correcting course angle of navigation system of magnetometer
  • Method for dynamically calculating and correcting course angle of navigation system of magnetometer
  • Method for dynamically calculating and correcting course angle of navigation system of magnetometer

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Embodiment Construction

[0045] The present invention will be further explained below in conjunction with the accompanying drawings.

[0046] like figure 1 As shown, the dynamic calculation and correction method of the heading angle of the magnetometer navigation system includes the following steps:

[0047] Step 1: Establish the dynamic error model of the magnetometer.

[0048] The error sources of the magnetometer can be divided into two categories. The first category is the instrument error of the magnetometer itself, and the second category is the error caused by the influence of the external environment. Among them, the first type of error can be considered as not changing with the external environment, and can be obtained through one correction; and when the external environment changes, the second type of error will change accordingly, so it can be set as a variable parameter . Therefore, the general error model of a magnetometer can be composed of these two types of errors, as follows:

[...

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Abstract

The invention provides a method for dynamically calculating and correcting a course angle of a navigation system of a magnetometer. The method can be used for dynamically calculating, correcting and compensating the course angle of the navigation system in a working environment with a changing external magnetic field. The method comprises the steps of firstly, establishing a dynamic error model of the magnetometer, secondly, comparing the corresponding relations of three axis output at two adjacent moments of the magnetometer and analyzing distribution characteristics of a geomagnetic field so as to acquire a group of equation including course angle information, and finally, dynamically calculating and correcting the course angle by solving the equation set. The method has the advantages of high applicability, strong instantaneity, high reliability, low cost, high precision, simplicity in processing of a calculation process and high stability and is capable of effectively improving the course precision of the navigation system. The method can be used for correcting and compensating the error of the course angle of an inertial integrated navigation and positioning system comprising an inertial measurement unit (IMU), the magnetometer (or an electronic compass).

Description

technical field [0001] The present invention relates to a method for dynamic calculation and correction of heading angle of a navigation system, in particular to a method for error correction and compensation of heading angle in an inertial integrated navigation and positioning system composed of an inertial measurement unit (IMU) and a magnetometer . Background technique [0002] In the application of the navigation system, whether the navigation system can provide the heading angle information of the carrier is very important. For a navigation system composed of an inertial measurement unit (IMU) composed of an accelerometer and a gyroscope, and composed of an inertial measurement unit (IMU) and a magnetometer, it can provide a higher-precision heading angle and attitude angle for the carrier. At present, magnetometers have been widely used in navigation systems, but there are still some problems in magnetic field compensation, especially when the external magnetic field ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C21/20G01C25/00
Inventor 陈熙源吕才平黄浩乾方琳
Owner SOUTHEAST UNIV
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