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A Calibration Method of Magnetometer Based on Known Attitude Angle

A calibration method, magnetometer technology, used in instruments, mapping and navigation, measuring devices, etc.

Active Publication Date: 2021-09-14
WUHAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

For cross-calibration between sensors, it is mainly done by relying on local gravity information, but this calibration method relies on accelerometer measurements

Method used

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  • A Calibration Method of Magnetometer Based on Known Attitude Angle
  • A Calibration Method of Magnetometer Based on Known Attitude Angle
  • A Calibration Method of Magnetometer Based on Known Attitude Angle

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Experimental program
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Embodiment Construction

[0054] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0055] Step 1. Select an open outdoor location as the calibration location, obtain the latitude and longitude coordinates and height of the location, and obtain the magnetic field strength M of the location by querying the IGRF (International Geomagnetic Reference Field) model n_IGRF ;

[0056] Step 2, such as figure 1 As shown, take the center of the smart phone (i.e., the carrier) as the center of rotation, and make it rotate 720° around the X, Y, and Z axes of the carrier coordinate system;

[0057] Step 3, through the patented "MEMS gyroscope automatic calibration method", obtain the high-precision attitude rotation matrix from the carrier coordinate system to the local coordinate system of each epoch in the calibration process through pseudo-position constraints and reverse smoothing (The role of the attitude rotation ma...

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Abstract

The invention provides a magnetometer calibration method based on known attitude angles. Based on the assumption that the total strength of the magnetic field at a fixed position is constant and the projected component of the magnetic field strength in the same coordinate system is constant, according to the magnetometer measurement model, using the known attitude angle to project the magnetometer observations to the local coordinate system, and pass The least squares iterative solution is used to obtain the calibration parameters of the magnetometer. Compared with the existing calibration technology, the present invention has simple algorithm and high efficiency. At the same time, the soft and hard magnetic effect calibration of the magnetometer is realized, and the coordinate system of the magnetometer is aligned with the coordinate system of the inertial sensor, so that the information of the magnetometer and inertial sensor is placed in a common frame, which can be used in multi-source sensor fusion positioning, sensor important role in the array.

Description

technical field [0001] The invention belongs to the field of magnetometer calibration, in particular to a magnetometer calibration method when the attitude angle is known. Background technique [0002] A magnetometer is a sensor used to measure magnetic induction, which provides a reference to magnetic north and is a key source of information for attitude estimation in low-cost, high-performance navigation systems. Due to the limitation of processing technology, the magnetometer will have problems such as zero offset error, quadrature axis coupling error, and scale factor error, which will affect the measurement accuracy of the magnetometer; moreover, the magnetometer is susceptible to magnetic interference from the surrounding environment, and these interferences are divided into soft magnetic interference and hard magnetic interference. Therefore, in order to measure more accurate magnetic field information, it is necessary to calibrate the magnetometer. In addition, in ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C17/38G01C25/00G01R35/00
CPCG01C17/38G01C25/005G01R35/00
Inventor 旷俭李泰宇牛小骥刘韬
Owner WUHAN UNIV
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