Magnetometer real-time correction device and method

Abstract

The invention discloses a magnetometer real-time correction device and method. The method comprises the following steps: firstly analyzing magnetometer error interference source features, then analyzing geomagnetic field distribution features and magnetometer measurement principles, subsequently designing the real-time correction device and simultaneously providing the corresponding correction method and process and finally realizing real-time correction and compensation on a course angle of a navigation system in a system level. According to the magnetometer real-time correction device and method, under the situation that the navigation system continuously works, the real-time automatic correction can be realized; meanwhile, the defects of conventional correction and compensation methods (such as an ellipsoid fitting method and the like) are avoided, and the magnetometer error correction can be autonomously, independently and completely realized. The magnetometer real-time correction device and method have the advantages that the course angle of the navigation system is corrected in real time, the error is more completely considered, the correction device is simple, the anti-interference performance is strong, the cost is low, the accuracy is high, and the processing of the calculation process is concise.

Description

technical field [0001] The invention belongs to the field of navigation and positioning, and relates to a device and method for real-time correction of a magnetometer. Background technique [0002] With the development of navigation technology, most navigation systems are gradually developing in the direction of miniaturization, low cost, low power consumption and high precision. Magnetometers are widely used in strapdown inertial navigation systems to provide reliable, low-cost, and high-precision navigation by measuring the Earth's magnetic field. At the same time, since the estimation error of the magnetometer does not accumulate, it can be used to compensate the drift of the gyroscope to improve the measurement accuracy of the attitude angle. However, the output of the magnetometer will be distorted by itself and the surrounding magnetic field environment to generate errors, such as offset error, scale factor error, non-orthogonal error, installation error, hard magneti...

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Problems solved by technology

However, for high-precision requirements and navigation during continuous operation, the shortcomings of some existing methods are mainly concentrated in that one part does not fully consider the types of error sources, and the other part considers the types of error sources, but simplifies the characteristics of error interference sources (simplified error source feature matrix), that is, the source of error interference is not fully considered

At the same time, the existing method needs to convert the error model of the magnetometer into an ellipsoid model, estimate the parameters of the ellipsoid model, and then convert it into an error model, which is not simple enough.

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