摘要
针对磁环境下的地磁传感器测量精度不足的问题,为了补偿地磁传感器存在的各种误差,在分析地磁传感器的自身误差和环境干扰误差的基础上,建立了地磁传感器误差校正模型,利用最大似然估计法将误差校正模型转化成多项式最小二乘拟合的基本方程形式,提出了基于QR因子分解法的补偿系数快速解算方法。分别求取仿真误差模型和实验误差模型的补偿系数,然后对地磁场矢量进行校正。结果表明,校正后的磁场强度和实际磁场强度基本一致,滚转角精度提高了近5倍,能够满足相关需求。
In view that the measuring precision of magnetic sensor was insufficient in magnetic environment,a magnetometer error calibration model was built based on the analysis of its own errors and environmental disturbance errors.The error correction model was transformed into a basic form of polynomial least squares estimate equation by using maximum likelihood estimate.A fast way for compensating coefficients was presented based on the QR factor decomposition method.Compensation coefficients by the simplified error model and by the actual error model were obtained and used to correct the magnetic field vector respectively.The results show that the corrected magnetic field intensity and the actual magnetic field intensity were basically agree,and the accuracy of the roll angle was improved nearly five times,meeting the related requirements.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2013年第1期80-83,共4页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(60908037)
关键词
地磁传感器
姿态角
最小二乘法
最大似然估计
校正
magnetometer
attitude angles
least square method
maximum likelihood estimator
calibration
