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Magnetometer correction method based on ellipsoid fitting

A technology of ellipsoid fitting and correction method, which is applied in the field of magnetometer correction based on ellipsoid fitting, can solve problems such as non-orthogonal error, hard magnetic and soft magnetic error, scaling factor error, etc., to achieve improved accuracy and stability performance, good fitting effect, and high correction accuracy

Active Publication Date: 2018-04-03
SOUTHEAST UNIV
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Problems solved by technology

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 magnetic and soft magnetic errors

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  • Magnetometer correction method based on ellipsoid fitting
  • Magnetometer correction method based on ellipsoid fitting
  • Magnetometer correction method based on ellipsoid fitting

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Embodiment Construction

[0022] The invention discloses a magnetometer calibration method based on ellipsoid fitting. The invention will be further described below in conjunction with the accompanying drawings.

[0023] Such as figure 1 As shown, a magnetometer calibration method based on ellipsoid fitting includes the following steps:

[0024] (1) According to the influence of the error on the magnetometer, the error model of the magnetometer is established;

[0025] The magnetometer error is generally affected by the scale factor error, installation error, non-orthogonal error, soft magnetic error, and hard magnetic error. The general expression of the magnetometer error model is:

[0026]

[0027]

[0028] Among them, C s is the scaling factor error matrix, C m is the installation error matrix, C n is the non-orthogonal error matrix, C si is the soft magnetic error matrix, is the hard-iron error vector, is the soft magnetic error vector, b b is the bias error vector, B b is the com...

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Abstract

The invention discloses a magnetometer correction method based on ellipsoid fitting. The method comprises the following steps: 1, establishing a magnetometer error model according to the influence ona magnetometer by error; 2, converting the magnetometer error model into a magnetometer ellipsoid error model according to collected magnetometer measured data; 3, calculating parameters in the magnetometer ellipsoid error model, and working out ellipsoid fitting residual; 4, determining a satisfaction interval, and calculating satisfaction value and a satisfaction interval probability, removing denoising points when the satisfaction interval probability is smaller than the satisfaction value, returning the step 3, recalculating the parameters in the magnetometer ellipsoid error model throughremaining data, working out the ellipsoid fitting residual, re-executing the step 4 till the satisfaction interval probability is greater than the satisfaction value, and further working out the ellipsoid fitting error, so as to accomplish magnetometer correction. The method can effectively improve magnetometer correction and compensation precision, and is high in reliability, low in cost, high inprecision and simple in calculation process.

Description

technical field [0001] The invention belongs to the field of navigation instrument correction, in particular to a magnetometer correction method based on ellipsoid fitting. Background technique [0002] In the navigation system, the accelerometer and gyroscope form an inertial measurement unit (IMU). In some cases with high precision requirements, the error and drift of the accelerometer and gyroscope itself cause the accuracy of the attitude and heading parameters output by the IMU to fail to meet the requirements. Navigation system requirements. Since the magnetometer has the advantage that the estimation error does not accumulate, the magnetometer is often used to compensate the drift of the gyroscope to improve the measurement accuracy of the attitude angle. A navigation system consisting of an inertial measurement unit (IMU) and a magnetometer can improve the accuracy of attitude and heading angles. However, the output of the magnetometer will be distorted by itself a...

Claims

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Application Information

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IPC IPC(8): G01C25/00
Inventor 陈熙源舒南樟邵鑫石春凤
Owner SOUTHEAST UNIV
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