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应用科学学报 >

2013 , Vol. 31 >Issue 2: 154 - 158

DOI: https://doi.org/10.3969/j.issn.0255-8297.2013.02.008

信号与信息处理

三轴磁航向传感器误差补偿

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  • 西北工业大学电子信息学院，西安710072
冯文光，博士生，研究方向：智能传感器、数据处理与数据融合，E-mail: fengwenguang@163.com；刘诗斌，教授，博导，研究方向：磁场和压力测量、智能传感器系统、微电子和计算机应用等，E-mail：liushibin@nwpu.edu.cn

收稿日期: 2011-12-27

  修回日期: 2012-12-05

  网络出版日期: 2012-12-05

基金资助

国家自然科学基金(No.60874101)资助

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Error Calibration of Three-Axis Magnetic Heading Sensor

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  • College of Electronics and Information, Northwestern Polytechnical University, Xi’an 710072, China

Received date: 2011-12-27

  Revised date: 2012-12-05

  Online published: 2012-12-05

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摘要

用椭球拟合法进行磁航向传感器误差补偿时，约束矩阵奇异导致算法不稳定. 对此提出改进的最小二乘椭球拟合算法，讨论了磁航向传感器的误差来源，建立了误差数学模型. 结合对约束矩阵的奇异性分析，提出矩阵分块分解方法解决奇异性问题，并用最小二乘法求解椭球系数. 该算法消除了传统算法的不稳定性，降低了计算量. 计算机仿真和转台实验表明它能有效补偿磁航向传感器的测量误差，补偿后航向最大误差小于0.42m.

本文引用格式

冯文光， 刘诗斌， 李菊萍， 郭博， 杨尚林 . 三轴磁航向传感器误差补偿[J]. 应用科学学报, 2013 , 31(2) : 154 -158 . DOI: 10.3969/j.issn.0255-8297.2013.02.008

Abstract

An improved least-square ellipsoid fitting method for calibrating of magnetic heading sensor is proposed to overcome instability of the traditional ellipsoid fitting algorithm due to singularity of the constraint matrix. The source of error and the mathematical model are discussed. A method of matrix block
decomposition is used to solve the singularity problem of constraint matrix in the traditional algorithm. The ellipsoid parameter is calculated using the least-square algorithm. The proposed method overcomes instability of the traditional algorithm and reduces computation complexity. Simulation and experiments show that the proposed method is effective in magnetic heading sensor calibration. The precision of calibrated heading is better than 0.42m.

Key words： magnetic heading sensor; error calibration; ellipsoid fitting; singularity

参考文献

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