Automatic magnetometer correction assisted AHRS (altitude and heading reference system) and method

Abstract

The invention relates to an automatic magnetometer correction assisted AHRS (altitude and heading reference system) and method. The AHRS comprises an AHRS and an MCS (magnetometer correction system) supporting an online magnetic filed correction function, wherein the AHRS serving as a main unit comprises a master controller, an inertial sensor group, a sensor correction algorithm, an online magnetic field correction algorithm, an altitude compensation algorithm and a cascade filter; the inertial sensor group comprises a triaxial accelerometer, a three-axis gyroscope and a three-axis magnetometer and is used for providing inertial altitude data; the MCS serving as a slave unit comprises a coprocessor, a two-axis rotary table, a rotary table control system and a magnetic field modeling module. According to the AHRS and the method, the altitude calculation precision and the applicability of the portable AHRS are improved without manual correction in advance, the defects of poor adaptability to magnetic field disturbance, low robustness of altitude calculation and the like in the prior art are overcome, and the AHRS and the method have certain reference and guide significance for engineering practice in the fields of inertial navigation, altitude and heading calculation and the like.

Description

technical field [0001] The invention relates to an automatic electronic compass calibration-assisted heading attitude reference system and method, belonging to the technical field of inertial navigation. Background technique [0002] Three-axis strapdown chips based on accelerometers, electronic gyroscopes, and electronic compass are increasingly being used in attitude measurement and navigation reference. In the design of the Altitude and Heading Reference System (AHRS), the measurement and output of the three-axis angle are mainly considered, in which the accelerometer provides the horizontal two-axis inclination reference value by measuring the three-axis earth gravity component, and the electronic compass measures the three-axis geomagnetic The intensity is used to provide the reference value of the heading angle, and the gyroscope outputs the three-axis angular velocity to provide the three-axis angle correction value. By using the correlation algorithm to fuse the ang...

AI Technical Summary

Problems solved by technology

[0011] The technical problem of the present invention is to overcome the deficiencies of the prior art, and provide an automatic electronic compass calibration-assisted attitude reference system and method, which improves the attitude calculation of the portable attitude reference system without manual correction in advance Accuracy and applicability overcome the shortcomings of existing technologies such as poor adaptability to magnetic field interference and low robustness of attitude calculation. It has certain reference and guiding significance for engineering practice in the fields of inertial navigation and attitude calculation.

Images