CN107024673A - The three axis magnetometer total error scaling method aided in based on gyroscope - Google Patents
The three axis magnetometer total error scaling method aided in based on gyroscope Download PDFInfo
- Publication number
- CN107024673A CN107024673A CN201710362481.4A CN201710362481A CN107024673A CN 107024673 A CN107024673 A CN 107024673A CN 201710362481 A CN201710362481 A CN 201710362481A CN 107024673 A CN107024673 A CN 107024673A
- Authority
- CN
- China
- Prior art keywords
- axis
- gyroscope
- axis magnetometer
- magnetometer
- error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Magnetic Variables (AREA)
- Gyroscopes (AREA)
Abstract
The present invention proposes a kind of three axis magnetometer total error scaling method aided in based on gyroscope, suitable for portable navigation devices such as strapdown inertial navigation system, mobile phones, the sensor combinations module that this method is connected using three-axis gyroscope with three axis magnetometer, using cuboid framework and sensor combinations module, the soft magnetism error of magnetometer, Hard Magnetic error, zero offset error, scale factor error, non-orthogonal errors and alignment error are demarcated.In having magnetic environment, by changing putting towards and rotating for cuboid framework, three axis magnetometer and three-axis gyroscope output data are obtained.The first step, which exports auxiliary by gyroscope and the magnetometer interpolation at anglec of rotation interval such as obtains, to be exported, and second step obtains error coefficient matrix and zero deviation amount calibration value by magnetometer interpolation output linearity computing.The method of the present invention has the advantages that equipment requirement is low, simple to operate, the nominal time is short, amount of calculation is small, precision is high.
Description
Technical field
The present invention relates to three axis magnetometer calibration technique field, more particularly to a kind of three axle magnetic strength aided in based on gyroscope
Count total error scaling method.
Background technology
Due to the foozle and rigging error of three axis magnetometer, and interference of the extraneous ferromagnetic object to magnetic field, it is surveyed
The precision for measuring earth's magnetic field is relatively low.The error of magnetometer is from environmental disturbances and itself error of magnetometer.Environmental disturbances include
Hard Magnetic is disturbed and soft magnetism interference, the main error of magnetometer itself include zero offset error, scale factor error, non-orthogonal errors,
Alignment error is installed.These errors have a strong impact on magnetometer and determine the precision with attitude measurement, it is necessary to enter rower applied to course
It is fixed, error coefficient is obtained, and then compensate the original output of magnetometer.
Current scaling method has a lot, mainly includes：
1. magnetometer is rotated one week in the horizontal plane, the maximum exported using magnetometer and minimum value complete 2 axle magnetic strength
The scale factor error of meter and the demarcation of zero offset error.But, the method can be only done the magnetometer demarcation of 2 axles, and can only mark
Determine fractional error, precision is low.
2. by the ellipsoid fitting scaling method of sipping magneto-meter in three dimensions, its can not demarcate disturbed by soft magnetism, it is non-
The rotation error that quadrature error, alignment error are caused, compensation effect is limited, and the ellipsoid fitting process for passing through least square method
It is computationally intensive.
3. determining direction using high-accuracy non-magnetic turntable, and magnetic field data is obtained by the magnetometer of higher precision, passed through
Experiment determines error coefficient, and its correction accuracy is high, but high to equipment requirement, and complex operation.
4. magnetometer is fixed in square, by 12 it is different put orientation, the error coefficient of magnetometer is entered
Row is solved.But the method is high to 12 accuracy requirements for putting direction, and the data point relied on is less, random noise compared with
When big, larger calibrated error is easily produced.
Generally speaking, presently relevant scaling method has equipment requirement height, complex operation, calculates complexity, only completes portion
The demarcation of point error term, the shortcomings of be only applicable to the demarcation of 2 axle magnetometers.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem.
Therefore, it is an object of the invention to propose a kind of three axis magnetometer total error demarcation side aided in based on gyroscope
Method, this method has the advantages that equipment requirement is low, simple to operate, the nominal time is short, amount of calculation is small, precision is high.
To achieve these goals, embodiments of the invention propose it is a kind of based on gyroscope aid in three axis magnetometer it is complete
Error calibrating method, comprises the following steps：S1：Three-axis gyroscope and three axis magnetometer are connected the sensor combinations module constituted
It is installed in cuboid framework, and it is 1~6 that six faces of framework are numbered respectively, wherein, coding rule is：1 and 2 faces are relative,
And perpendicular to sensor combinations module z-axis, 3 and 4 faces are relative, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are relative, and
Perpendicular to sensor combinations module x-axis；S2：Set rotating cycle n, by frame number for 1 be placed in up it is bright and clean without magnetic recording level
On face, enclosed around the axle rotating frame perpendicular to plane more than n, obtain 1 group of three axis magnetometer and three-axis gyroscope output data；
S3：Will number be 2~6 face be placed in upward respectively it is bright and clean without on magnetic recording level face, around the axle rotating frame perpendicular to plane more than n
Circle, obtains other 5 groups of three axis magnetometers and three-axis gyroscope output data；S4：Interpolation interval angles Δ θ is set, and sets frame
The numbering k in the face of frame upward；S5：By sensitive axes perpendicular to Plane of rotation gyroscope outputIntegration obtains each sampling
The rotation angle θ of pointj, and work as θj>=360n, stops integration, preserves each sampled point rotation angle θ；S6：According to each sampled point rotation angle θ
M is exported with each sampled point three axis magnetometerk, calculate equiangularly spaced three axis magnetometer interpolation output；S7：Change framework upward
Face numbering k, repeat step S5 obtains the output of other 5 groups of three axis magnetometer interpolation to S6, finally gives three axis magnetometer and insert
Value outputI=1~360n/ Δ θ, k=1~6；S8：Three axis magnetometer interpolation output according to finally giving calculates zero partially by mistake
Difference vector；S9：Obtain the magnetic-field component h perpendicular to plane⊥；S10：According to the output of three axis magnetometer interpolation and magnetic-field component h⊥Meter
Calculate error coefficient matrix；S11：The error coefficient matrix according to the obtained zero offset error vector sum, to three axis magnetometer
Original output carries out error compensation.
In addition, the three axis magnetometer total error scaling method according to the above embodiment of the present invention aided in based on gyroscope is also
There can be technical characteristic additional as follows：
In some instances, in the S6, equiangularly spaced three axis magnetometer interpolation is calculated by equation below defeated
Go out：
In some instances, in the S8, the zero offset error vector is calculated by equation below：
In some instances, in the S9, the magnetic-field component h⊥To preset, or calculated by preset formula
Obtain the magnetic-field component h⊥。
In some instances, the preset formula is：
In some instances, in the S10, the error coefficient matrix is：K=[K1K2K3], wherein,
In some instances, in the S11, the output original to three axis magnetometer carries out the mode of error compensation
For：
Wherein,For the three axis magnetometer output after compensation.
In some instances, in the S5, angle, θjFor relative rotation angle.
In some instances, in the S4, interpolation interval angles Δ θ is 360 common divisor.
The three axis magnetometer total error scaling method aided in based on gyroscope according to embodiments of the present invention, with following excellent
Point：
1. low for equipment requirements in this method implementation process, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is simple to operate, rotary course, which need not be controlled, to be required to no north orientation alignment of upset of magnetometer etc.
The accurate anglec of rotation, to rotary speed and direction of rotation also without particular/special requirement；
3. this method calculates simple, obtaining equiangularly spaced magnetometer interpolation by linear interpolation exports, then passes through magnetic
Strong meter interpolation output, error coefficient matrix and zero offset error vector are obtained by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is simple to operate, calculate simple, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscope in strap-down inertial equipment come aid in complete magnetometer total error
Demarcation.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the three axis magnetometer total error scaling method according to an embodiment of the invention aided in based on gyroscope；
Fig. 2 is each face expanded schematic diagram of cuboid framework according to an embodiment of the invention；
Fig. 3 is cuboid framework according to an embodiment of the invention and sensor die sensitive axes aligned relationship schematic diagram；
Fig. 4 is rotation process process schematic according to an embodiment of the invention；
Fig. 5 is the schematic diagram of three axis magnetometer output valve before and after demarcation according to an embodiment of the invention；
Fig. 6 is x, the schematic diagram of y-axis magnetometer output valve before and after demarcation according to an embodiment of the invention；
Fig. 7 is x, the schematic diagram of z-axis magnetometer output valve before and after demarcation according to an embodiment of the invention；
Fig. 8 is y, the schematic diagram of z-axis magnetometer output valve before and after demarcation according to an embodiment of the invention；
Fig. 9 is magnetometer angle error schematic diagram before and after demarcation according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
The three axis magnetometer total error mark aided in based on gyroscope according to embodiments of the present invention is described below in conjunction with accompanying drawing
Determine method.
Fig. 1 is the three axis magnetometer total error scaling method according to an embodiment of the invention aided in based on gyroscope
Flow chart.As shown in figure 1, this method comprises the following steps：
Step S1：It is rectangular that the sensor combinations module constituted that three-axis gyroscope and three axis magnetometer are connected is installed on no magnetic
In body framework, and it is 1~6 that six faces of framework are numbered respectively, wherein, coding rule is：1 and 2 faces are relative, and perpendicular to biography
Sensor composite module z-axis, 3 and 4 faces are relative, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are relative, and perpendicular to sensing
Device composite module x-axis, concrete example is as shown in Figures 2 and 3.
Step S2：Set rotating cycle n, by frame number for 1 be placed in up it is bright and clean without on magnetic recording level face, around perpendicular to
The axle rotating frame of plane is enclosed more than n, obtains 1 group of three axis magnetometer and three-axis gyroscope output data, specific rotary course
For example shown in Fig. 4.
Step S3：Again will number be 2~6 face be placed in upward respectively it is bright and clean without on magnetic recording level face, around the axle perpendicular to plane
Rotating frame is enclosed more than n, obtains other 5 groups of three axis magnetometers and three-axis gyroscope output data.
It should be noted that in one embodiment of the invention, in above-mentioned steps S2 and S3, to the water of bright and clean plane
Pingdu does not require that the direction of side when putting to magnetometer is not required, to it is clockwise with direction of rotation counterclockwise without
It is required that, the operation order no requirement (NR) to the face of cuboid framework upward, to rotary speed no requirement (NR).
Step S4：Interpolation interval angles Δ θ is set, and sets the numbering k in the face of framework upward.
Specifically, in one embodiment of the invention, interpolation interval angles Δ θ is 360 common divisor.
Step S5：By sensitive axes perpendicular to Plane of rotation gyroscope outputIntegration obtains the rotation of each sampled point
Rotational angle thetaj, and work as θj>=360n, stops integration, preserves each sampled point rotation angle θ.
Specifically, in one embodiment of the invention, angle, θjFor relative rotation angle.
Step S6：M is exported according to each sampled point rotation angle θ and each sampled point three axis magnetometerk, calculate equiangularly spaced
Three axis magnetometer interpolation is exported.
Specifically, in one embodiment of the invention, three equiangularly spaced axle magnetic are calculated by following interpolation formula
Strong meter interpolation output：
Step S7：Change the numbering k in the face of framework upward, repeat step S5 obtains other 5 groups of three axis magnetometers and inserted to S6
Value output, finally gives three axis magnetometer interpolation and is output as：I=1~360n/ Δ θ, k=1~6.
Step S8：Three axis magnetometer interpolation output according to finally giving calculates zero offset error vector.
Specifically, in one embodiment of the invention, zero offset error vector is calculated by equation below：
Step S9：Obtain the magnetic-field component h perpendicular to plane⊥。
Specifically, in one embodiment of the invention, magnetic-field component h⊥To preset, or pass through preset formula meter
Calculation obtains magnetic-field component h⊥.In other words, i.e., the magnetic-field component h perpendicular to plane is set by given data⊥, or by default
Formula, calculates the magnetic-field component h obtained perpendicular to plane⊥。
More specifically, preset formula is, for example,：
Step S10：According to the output of three axis magnetometer interpolation and magnetic-field component h⊥Calculation error coefficient matrix.
Specifically, in one embodiment of the invention, error coefficient matrix is：K=[K1 K2 K3], wherein,
Step S11：According to obtained zero offset error vector sum error coefficient matrix, output original to three axis magnetometer is carried out
Error compensation.
Specifically, in one embodiment of the invention, output original to three axis magnetometer carries out the mode of error compensation
For：
Wherein,For the three axis magnetometer output after compensation.Further, the reference value of the anglec of rotation is provided with turntable, it is right
Than the angular error calculated before and after demarcation by magnetometer.As specific example, the front and rear three axis magnetometer output valve of demarcation is for example
Shown in Fig. 5；X, y-axis magnetometer output valve are for example shown in Fig. 6 before and after demarcation；X, z-axis magnetometer output valve such as Fig. 7 before and after demarcation
It is shown；Y, z-axis magnetometer output valve are for example shown in Fig. 8 before and after demarcation；Three axis magnetometer angle error such as Fig. 9 institutes before and after demarcation
Show, it can be seen that calibrated three axis magnetometer angle error is obviously reduced.
To sum up, the three axis magnetometer total error scaling method aided in based on gyroscope according to embodiments of the present invention, is had
Following advantage：
1. low for equipment requirements in this method implementation process, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is simple to operate, rotary course, which need not be controlled, to be required to no north orientation alignment of upset of magnetometer etc.
The accurate anglec of rotation, to rotary speed and direction of rotation also without particular/special requirement；
3. this method calculates simple, obtaining equiangularly spaced magnetometer interpolation by linear interpolation exports, then passes through magnetic
Strong meter interpolation output, error coefficient matrix and zero offset error vector are obtained by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is simple to operate, calculate simple, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscope in strap-down inertial equipment come aid in complete magnetometer total error
Demarcation.
For the ease of more fully understanding the present invention, below in conjunction with specific embodiment to the above embodiment of the present invention based on top
The three axis magnetometer total error scaling method of spiral shell instrument auxiliary carries out detailed exemplary description.
Embodiment 1
In the present embodiment, the three axis magnetometer total error scaling method that should be aided in based on gyroscope is for example including following step
Suddenly：
A) from SBG IG-500N three-axis gyroscopes and three axis magnetometer sensor combinations module, process without magnetic cuboid
Framework, and sensor assembly is installed in framework.
B) the sensor combinations module of three axis magnetometer and three-axis gyroscope is installed in cuboid framework, to framework
Six face numberings 1~6, coding rule is：1 and 2 faces are relative, perpendicular to sensor combinations module z-axis；3 and 4 faces are relative, vertically
In sensor combinations module y-axis；5 and 6 faces are relative, perpendicular to sensor combinations module x-axis.
C) setting rotating cycle n=2.By frame number for 1 be placed in up it is bright and clean without on magnetic recording level face, around perpendicular to flat
The axle rotating frame in face is enclosed more than n, preserves 1 group of three axis magnetometer and three-axis gyroscope output data.
D) face of numbering 2~6 is placed in upward respectively again bright and clean without on magnetic recording level face, surpassed around the axle rotating frame perpendicular to plane
N circles are crossed, other 5 groups of three axis magnetometers and three-axis gyroscope output data is obtained.
E) setting interpolation interval angles Δ θ=1 °, and set the numbering k=1 in the face of framework upward.
F) by sensitive axes perpendicular to Plane of rotation gyroscope outputIntegration obtains the anglec of rotation of each sampled point
θj.Work as θj>=360n, stops integration, preserves each sampled point rotation angle θ.
G) m is exported by each sampled point rotation angle θ and each sampled point three axis magnetometerk, pass through following interpolation formula：
Obtain the output of three axis magnetometer interpolationI=1~360n/ Δs θ.
H) change the numbering k in the face of framework upward, k=2~6 are taken respectively, repeat step e~f obtains other 5 group of three axle
Magnetometer interpolation is exported, and is finally givenI=1~360n/ Δ θ, k=1~6.
I) by below equation, calculating obtains zero offset error vector：
J) magnetic-field component h of the setting perpendicular to plane⊥, or by below equation, calculating is obtained perpendicular to the magnetic field of plane
Component：
K) by below equation, calculating obtains error coefficient matrix K=[K1K2K3], wherein,
L) by the zero offset error vector and error coefficient matrix that are obtained in step h and step j, it is original to magnetometer export into
Row error compensation, is exported after being compensated：
M) angular error calculated before and after the reference value of the anglec of rotation, correlation calibration by magnetometer is provided with turntable.
To sum up, the three axis magnetometer total error scaling method aided in based on gyroscope according to embodiments of the present invention, is had
Following advantage：
1. low for equipment requirements in this method implementation process, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is simple to operate, rotary course, which need not be controlled, to be required to no north orientation alignment of upset of magnetometer etc.
The accurate anglec of rotation, to rotary speed and direction of rotation also without particular/special requirement；
3. this method calculates simple, obtaining equiangularly spaced magnetometer interpolation by linear interpolation exports, then passes through magnetic
Strong meter interpolation output, error coefficient matrix and zero offset error vector are obtained by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is simple to operate, calculate simple, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscope in strap-down inertial equipment come aid in complete magnetometer total error
Demarcation.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (9)
1. a kind of three axis magnetometer total error scaling method aided in based on gyroscope, it is characterised in that comprise the following steps：
S1：The sensor combinations module constituted that three-axis gyroscope and three axis magnetometer are connected is installed in cuboid framework, and
It is 1~6 that six faces of framework are numbered respectively, wherein, coding rule is：1 and 2 faces are relative, and perpendicular to sensor group matched moulds
Block z-axis, 3 and 4 faces are relative, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are relative, and perpendicular to sensor combinations module x
Axle；
S2：Set rotating cycle n, by frame number for 1 be placed in up it is bright and clean without on magnetic recording level face, around the axle perpendicular to plane
Rotating frame is enclosed more than n, obtains 1 group of three axis magnetometer and three-axis gyroscope output data；
S3：The face for being 2~6 will be numbered and be placed in upward respectively bright and clean without on magnetic recording level face, surpassed around the axle rotating frame perpendicular to plane
N circles are crossed, other 5 groups of three axis magnetometers and three-axis gyroscope output data is obtained；
S4：Interpolation interval angles Δ θ is set, and sets the numbering k in the face of framework upward；
S5：By sensitive axes perpendicular to Plane of rotation gyroscope outputIntegration obtains the rotation angle θ of each sampled pointj, and
Work as θj>=360n, stops integration, preserves each sampled point rotation angle θ；
S6：M is exported according to each sampled point rotation angle θ and each sampled point three axis magnetometerk, calculate three equiangularly spaced axle magnetic strength
Count interpolation output；
S7：Change the numbering k in the face of framework upward, repeat step S5 obtains other 5 groups of three axis magnetometer interpolation output to S6,
Finally give the output of three axis magnetometer interpolation
S8：Three axis magnetometer interpolation output according to finally giving calculates zero offset error vector；
S9：Obtain the magnetic-field component h perpendicular to plane⊥；
S10：According to the output of three axis magnetometer interpolation and magnetic-field component h⊥Calculation error coefficient matrix；
S11：The error coefficient matrix according to the obtained zero offset error vector sum, output original to three axis magnetometer is carried out
Error compensation.
2. the three axis magnetometer total error scaling method according to claim 1 aided in based on gyroscope, it is characterised in that
In the S6, equiangularly spaced three axis magnetometer interpolation is calculated by equation below and exported：
3. the three axis magnetometer total error scaling method according to claim 2 aided in based on gyroscope, it is characterised in that
In the S8, the zero offset error vector is calculated by equation below：
4. the three axis magnetometer total error scaling method according to claim 3 aided in based on gyroscope, it is characterised in that
In the S9, the magnetic-field component h⊥To preset, or by preset formula calculate obtain the magnetic-field component h⊥。
5. the three axis magnetometer total error scaling method according to claim 4 aided in based on gyroscope, it is characterised in that
The preset formula is：
6. the three axis magnetometer total error scaling method according to claim 5 aided in based on gyroscope, it is characterised in that
In the S10, the error coefficient matrix is：K=[K1 K2 K3], wherein,
7. the three axis magnetometer total error scaling method according to claim 6 aided in based on gyroscope, it is characterised in that
In the S11, the mode that the output original to three axis magnetometer carries out error compensation is：
Wherein,For the three axis magnetometer output after compensation.
8. the three axis magnetometer total error scaling method according to claim 1 aided in based on gyroscope, it is characterised in that
In the S5, angle, θjFor relative rotation angle.
9. the three axis magnetometer total error scaling method according to claim 1 aided in based on gyroscope, it is characterised in that
In the S4, interpolation interval angles Δ θ is 360 common divisor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362481.4A CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362481.4A CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107024673A true CN107024673A (en) | 2017-08-08 |
| CN107024673B CN107024673B (en) | 2019-05-28 |
Family
ID=59529782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710362481.4A Active CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107024673B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656227B (en) * | 2017-09-21 | 2019-10-11 | 大连理工大学 | Magnetometer calibration method based on Levenberg-Marquardt algorithm |
| CN111239667A (en) * | 2020-03-16 | 2020-06-05 | 吉林大学 | Unified correction method for magnetic gradient dilatometer of each order |
| WO2020087088A3 (en) * | 2018-09-25 | 2020-07-02 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
| CN113063447A (en) * | 2021-06-02 | 2021-07-02 | 北京三快在线科技有限公司 | Gyroscope calibration method and device, readable storage medium and electronic equipment |
| CN113126642A (en) * | 2021-04-26 | 2021-07-16 | 广东华南计算技术研究所 | Yaw angle measuring system and method based on multi-MEMS inertial sensor and flight control system |
| CN113325353A (en) * | 2021-07-09 | 2021-08-31 | 中国科学院上海微系统与信息技术研究所 | Magnetometer spatial attitude calibration method and system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0756179A2 (en) * | 1995-07-26 | 1997-01-29 | AT&T IPM Corp. | System and method for calibrating multi-axial measurement devices in the presence of a uniform field |
| CN101251584A (en) * | 2008-04-09 | 2008-08-27 | 武汉大学 | Three-axial magnetometer correcting method and three-axial magnetic gradient correcting method |
| CN102589573A (en) * | 2012-02-09 | 2012-07-18 | 黑龙江省博凯科技开发有限公司 | Sensor field calibration method in miniature integrated navigation system |
| CN102879832A (en) * | 2012-09-21 | 2013-01-16 | 中国人民解放军国防科学技术大学 | Non-alignment error correction method used for geomagnetic element measuring system |
| CN104459828A (en) * | 2014-12-08 | 2015-03-25 | 中国人民解放军国防科学技术大学 | Geomagnetism vector system non-alignment correction method based on axis rotating method |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| CN106125026A (en) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | A kind of three axis magnetometer total error parameter identification not relying on field, earth's magnetic field amount and bearing calibration |
| US20160334219A1 (en) * | 2012-06-21 | 2016-11-17 | Innovative Solutions & Support, Inc. | Method and system for compensating for soft iron magnetic disturbances in multiple heading reference systems |
| CN106289243A (en) * | 2016-08-03 | 2017-01-04 | 上海乐相科技有限公司 | A kind of magnetometer automatic calibrating method and system |
| US20170123035A1 (en) * | 2015-10-29 | 2017-05-04 | Kespry, Inc. | Autonomous magnetometer calibration |
-
2017
- 2017-05-22 CN CN201710362481.4A patent/CN107024673B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0756179A2 (en) * | 1995-07-26 | 1997-01-29 | AT&T IPM Corp. | System and method for calibrating multi-axial measurement devices in the presence of a uniform field |
| CN101251584A (en) * | 2008-04-09 | 2008-08-27 | 武汉大学 | Three-axial magnetometer correcting method and three-axial magnetic gradient correcting method |
| CN102589573A (en) * | 2012-02-09 | 2012-07-18 | 黑龙江省博凯科技开发有限公司 | Sensor field calibration method in miniature integrated navigation system |
| US20160334219A1 (en) * | 2012-06-21 | 2016-11-17 | Innovative Solutions & Support, Inc. | Method and system for compensating for soft iron magnetic disturbances in multiple heading reference systems |
| CN102879832A (en) * | 2012-09-21 | 2013-01-16 | 中国人民解放军国防科学技术大学 | Non-alignment error correction method used for geomagnetic element measuring system |
| CN104459828A (en) * | 2014-12-08 | 2015-03-25 | 中国人民解放军国防科学技术大学 | Geomagnetism vector system non-alignment correction method based on axis rotating method |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| US20170123035A1 (en) * | 2015-10-29 | 2017-05-04 | Kespry, Inc. | Autonomous magnetometer calibration |
| CN106125026A (en) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | A kind of three axis magnetometer total error parameter identification not relying on field, earth's magnetic field amount and bearing calibration |
| CN106289243A (en) * | 2016-08-03 | 2017-01-04 | 上海乐相科技有限公司 | A kind of magnetometer automatic calibrating method and system |
Non-Patent Citations (1)
| Title |
|---|
| KE HAN 等: "Extended Kalman Filter-Based Gyroscope-Aided Magnetometer Calibration for Consumer Electronic Devices", 《IEEE SENSORS JOURNAL》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656227B (en) * | 2017-09-21 | 2019-10-11 | 大连理工大学 | Magnetometer calibration method based on Levenberg-Marquardt algorithm |
| WO2020087088A3 (en) * | 2018-09-25 | 2020-07-02 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
| CN111239667A (en) * | 2020-03-16 | 2020-06-05 | 吉林大学 | Unified correction method for magnetic gradient dilatometer of each order |
| CN113126642A (en) * | 2021-04-26 | 2021-07-16 | 广东华南计算技术研究所 | Yaw angle measuring system and method based on multi-MEMS inertial sensor and flight control system |
| CN113063447A (en) * | 2021-06-02 | 2021-07-02 | 北京三快在线科技有限公司 | Gyroscope calibration method and device, readable storage medium and electronic equipment |
| CN113325353A (en) * | 2021-07-09 | 2021-08-31 | 中国科学院上海微系统与信息技术研究所 | Magnetometer spatial attitude calibration method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107024673B (en) | 2019-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024673A (en) | The three axis magnetometer total error scaling method aided in based on gyroscope | |
| EP3006896B1 (en) | Three-axis digital compass | |
| CN102313543B (en) | Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method | |
| CN102818564B (en) | Calibration method of three-dimensional electronic compass | |
| CN105806364B (en) | A kind of calibration method of mining slewing drilling machine inclinometer probe | |
| CN104459828B (en) | Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes | |
| CN108458714B (en) | Euler angle solving method without gravity acceleration in attitude detection system | |
| CN102252689A (en) | Electronic compass calibration method based on magnetic sensor | |
| CN102879832B (en) | Non-alignment error correction method used for geomagnetic element measuring system | |
| CN106482746B (en) | Lever arm calibration and compensation method in a kind of accelerometer for hybrid inertial navigation system | |
| CN111780786A (en) | Online calibration method for three-axis TMR sensor | |
| JPH01500618A (en) | Magnetic compass automatic calibration method and device | |
| CN104316037B (en) | A kind of bearing calibration of electronic compass and device | |
| CN106643792A (en) | Inertial measurement unit and geomagnetic sensor integrated calibration apparatus and calibration method | |
| CN104698485A (en) | BD, GPS and MEMS based integrated navigation system and method | |
| CN112833917B (en) | Three-axis magnetic sensor calibration method based on magnetic course angle and least square method | |
| CN107270940B (en) | The output bias estimation method of three axis magnetometer | |
| CN107402007A (en) | A kind of method for improving miniature AHRS modules precision and miniature AHRS modules | |
| CN108458728A (en) | A kind of Magnetic Sensor on-line calibration method for unmanned plane | |
| CN110361031A (en) | A kind of IMU population parameter error quick calibrating method theoretical based on backtracking | |
| CN107390155A (en) | A kind of Magnetic Sensor calibrating installation and method | |
| CN106052719A (en) | Method and device for calibrating gyroscope | |
| CN104567936A (en) | Parameter calibration method of triaxially oblique configuration inertia measurement device | |
| CN108871301A (en) | Magnetic field orientation measurement method | |
| CN108871319A (en) | One kind is based on earth gravitational field and the sequential modified attitude algorithm method in earth's magnetic field |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |