CN101241009B  Magneto electronic compass error compensation method  Google Patents
Magneto electronic compass error compensation method Download PDFInfo
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 CN101241009B CN101241009B CN2007103045358A CN200710304535A CN101241009B CN 101241009 B CN101241009 B CN 101241009B CN 2007103045358 A CN2007103045358 A CN 2007103045358A CN 200710304535 A CN200710304535 A CN 200710304535A CN 101241009 B CN101241009 B CN 101241009B
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 Prior art keywords
 angle
 magnetic
 alpha
 compensation
 compass
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 230000005291 magnetic Effects 0.000 claims abstract description 46
 238000000034 methods Methods 0.000 claims description 7
 230000000737 periodic Effects 0.000 claims description 6
 239000003302 ferromagnetic materials Substances 0.000 abstract description 5
 239000002585 bases Substances 0.000 abstract 2
 230000000694 effects Effects 0.000 abstract 1
 230000002708 enhancing Effects 0.000 abstract 1
 XEEYBQQBJWHFJMUHFFFAOYSAN iron Chemical compound data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nMzAwcHgnIGhlaWdodD0nMzAwcHgnIHZpZXdCb3g9JzAgMCAzMDAgMzAwJz4KPCEtLSBFTkQgT0YgSEVBREVSIC0tPgo8cmVjdCBzdHlsZT0nb3BhY2l0eToxLjA7ZmlsbDojRkZGRkZGO3N0cm9rZTpub25lJyB3aWR0aD0nMzAwJyBoZWlnaHQ9JzMwMCcgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTI1Ljk4MScgeT0nMTU2JyBzdHlsZT0nZm9udC1zaXplOjQwcHg7Zm9udC1zdHlsZTpub3JtYWw7Zm9udC13ZWlnaHQ6bm9ybWFsO2ZpbGwtb3BhY2l0eToxO3N0cm9rZTpub25lO2ZvbnQtZmFtaWx5OnNhbnMtc2VyaWY7ZmlsbDojM0I0MTQzJyA+PHRzcGFuPkZlPC90c3Bhbj48L3RleHQ+Cjwvc3ZnPgo= data:image/svg+xml;base64,PD94bWwgdmVyc2lvbj0nMS4wJyBlbmNvZGluZz0naXNvLTg4NTktMSc/Pgo8c3ZnIHZlcnNpb249JzEuMScgYmFzZVByb2ZpbGU9J2Z1bGwnCiAgICAgICAgICAgICAgeG1sbnM9J2h0dHA6Ly93d3cudzMub3JnLzIwMDAvc3ZnJwogICAgICAgICAgICAgICAgICAgICAgeG1sbnM6cmRraXQ9J2h0dHA6Ly93d3cucmRraXQub3JnL3htbCcKICAgICAgICAgICAgICAgICAgICAgIHhtbG5zOnhsaW5rPSdodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rJwogICAgICAgICAgICAgICAgICB4bWw6c3BhY2U9J3ByZXNlcnZlJwp3aWR0aD0nODVweCcgaGVpZ2h0PSc4NXB4JyB2aWV3Qm94PScwIDAgODUgODUnPgo8IS0tIEVORCBPRiBIRUFERVIgLS0+CjxyZWN0IHN0eWxlPSdvcGFjaXR5OjEuMDtmaWxsOiNGRkZGRkY7c3Ryb2tlOm5vbmUnIHdpZHRoPSc4NScgaGVpZ2h0PSc4NScgeD0nMCcgeT0nMCc+IDwvcmVjdD4KPHRleHQgZG9taW5hbnQtYmFzZWxpbmU9ImNlbnRyYWwiIHRleHQtYW5jaG9yPSJzdGFydCIgeD0nMTguNzk5NicgeT0nNDcuNzk1NScgc3R5bGU9J2ZvbnQtc2l6ZTozOHB4O2ZvbnQtc3R5bGU6bm9ybWFsO2ZvbnQtd2VpZ2h0Om5vcm1hbDtmaWxsLW9wYWNpdHk6MTtzdHJva2U6bm9uZTtmb250LWZhbWlseTpzYW5zLXNlcmlmO2ZpbGw6IzNCNDE0MycgPjx0c3Bhbj5GZTwvdHNwYW4+PC90ZXh0Pgo8L3N2Zz4K [Fe] XEEYBQQBJWHFJMUHFFFAOYSAN 0.000 description 4
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Abstract
Description
Technical field
Patent of the present invention relates to the subcompass of magnetoelectricity that utilizes the terrestrial magnetic field to realize orientating function, has provided the measurement Error Compensation method of the subcompass of a kind of magnetoelectricity.
Background technology
After the subcompass of magnetoelectricity was fixed on the carrier, the magnetic azinuth measurement result can be subjected to the influence of ferromagnetic material on every side.Disturbing magnetic field is made up of hard iron magnetic field and soft iron magnetic field two parts.When having disturbing magnetic field on every side, the distribution of magnetic field intensity horizontal projection component no longer is positive circle, and distortion (influence in soft iron magnetic field) has taken place its shape, and skew (influence in hard iron magnetic field) has also taken place its center relative coordinate initial point.The existence of above factor causes the subcompass of magnetoelectricity measuring error to occur in the magnetic azinuth measuring process.Distribution that the popular backoff algorithm influence that is based on environmental interference magnetic field both at home and abroad causes magnetic field intensity horizontal projection component becomes ovalshaped hypothesis by positive circle.Promptly fit magnetic field intensity horizontal projection component and distribute, ask for relevant coefficient, in use carry out the compensation of magneticfield measurement value according to relevant coefficient according to ellipse.Above backoff algorithm is supposed the ellipse that is distributed as rule of magnetic field intensity horizontal projection component, and in fact is difficult to guarantee the strictness establishment of this condition owing to the complicacy of concrete condition, thereby has limited the raising of measuring accuracy.
Summary of the invention
The present invention proposes based on being out of shape the Error Compensation Algorithm that circle distributes and periodically supposes, with a kind of method that can be used for the magnetoelectronic compass error compensation of caused by factors measuring error such as ferromagnetic material around the compensation.
The present invention is a kind of method that can be used for magnetoelectronic compass error compensation, when the subcompass of magnetoelectricity uniform rotation multiturn in the environment around, and the azimuth angle alpha of azimuth angle alpha, the not compensated that records so _{m}, azimuth measurement error Δ α is with the generating period variation, can be expressed as the form of the periodic function of the subcompass corner of magnetoelectricity β, [0,2 π] in the scope, the form of the function generate convergent series behind periodic extension can be similar to this function with the algebraic sum of finite term, promptly
In the following formula, j is the finite value positive integer, and a0, an, bn are coefficient, n=1 wherein, and 2,3 ...,
Calibration process comprises following each step:
(1) the no magnetic turntable of subcompass of magnetoelectricity and caliberating device is equipped with in rotation, makes it point to positive north, determines that this moment, the position angle was 0 degree; (2) according to the actual measurement magnetic field data and as data computation position angle, geomagnetic declination approximate value α _{m}
(3) the corner data α computer azimuth angle error delta α=α that exports according to caliberating device _{m}α;
(4) rotate no magnetic turntable and make the position angle increase a certain angle, repeat second step and the 3rd step, the subcompass azimuth angle error of the magnetoelectricity when obtaining the respective party parallactic angle.Reach 360 degree (identical) until the position angle with 0 degree;
(5) calculate compensation formula according to azimuth angle error
In penalty coefficient a0, an, bn, n=1 wherein, 2,3 ...;
During use, the compensation formula coefficient calculations that will obtain according to demarcation more on the occasion of, its step is as follows:
(1) according to the actual measurement magnetic field data and as data computation position angle, geomagnetic declination approximate value α _{m}
(2) according to compensation formula Calculate more on the occasion ofΔ α, at first use position angle approximate value α during calculating _{m}Replace position angle actual value α, then carry out repeatedly iteration as the need degree of precision;
(3) calculate compensation back bearing measured value α '=α _{m}+ (Δ α).
Advantage of the present invention:
Proposed with caused by factors measuring error such as ferromagnetic materials around the compensation, to realize the highacruracy survey of magnetic azinuth based on being out of shape the Error Compensation Algorithm that circle distributes and periodically supposes.
Embodiment
Provide an instantiation that adopts patent of the present invention to realize the magnetoelectronic compass error compensation below.
In this example, be the magnetic azimuth angle transducer with high performance three magnetic resistance sensors, measure the terrestrial magnetic field component on carrier x axle, y axle, z axle respectively With the doubleaxel acceleration sensor is the angle of pitch (θ) and roll angle (γ) survey sensor.The information of comprehensive above a plurality of sensors, the highacruracy survey of realization magnetic azinuth.
The realization of the magnetoelectronic compass error compensation method that patent of the present invention proposes is divided into two stages, i.e. the error compensation stage of the coefficient calculations stage of calibration process and use.In calibration process, calculate the compensation formula coefficient according to measurement error value; In use, utilize compensation formula and relevant coefficient calculations more on the occasion of, realize error compensation.
When the subcompass of magnetoelectricity uniform rotation multiturn in the environment around, the azimuth angle alpha of the not compensated that records so _{m}, azimuth measurement error Δ α is with the generating period variation, can be expressed as the form of the periodic function of azimuth angle alpha, [0,2 π] in the scope, the form of the function generate convergent series behind periodic extension can be similar to this function with the algebraic sum of finite term, promptly
In the following formula, j is the finite value positive integer, and a0, an, bn are coefficient, n=1 wherein, and 2,3 ...;
Timing signal is installed in the subcompass of magnetoelectricity on the no magnetic turntable, and the turntable corner is measured by highprecision photoelectric encoder.Calibration process is made up of following steps.
The first step is rotated no magnetic turntable, makes its forward direction refer to north, and the output of the photoelectric encoder that resets determines that the position angle is 0 degree.
Second step is according to measured data computer azimuth angle approximate value.At first, according to following formula calculating magnetic field strength level projection H _{x}, H _{y}
In the formula, For Magnetic Sensor in θ ≠ 0,3 geomagnetic field components that record under γ ≠ 0 state.
Then, according to H _{x}, H _{y}Calculate the magnetic azinuth approximate value
At last, according to the magnetic declination value D computer azimuth angle approximate value of locality
The 3rd step is according to the corner data α computer azimuth angle error of photoelectric encoder output.
Δα＝α _{m}α
The 4th step, rotate no magnetic turntable and make the position angle increase by 15 degree, repeat second step and the 3rd step, the subcompass azimuth angle error of the magnetoelectricity when obtaining the respective party parallactic angle.Reach 360 degree (identical) until the position angle with 0 degree.
In the 5th step, calculate compensation formula according to azimuth angle error
In penalty coefficient a0, an, bn, n=1 wherein, 2,3 ....
In the above calibration process, we only need to rotate no magnetic turntable and get final product to respective angles.
During use, the compensation formula coefficient calculations that will obtain according to demarcation more on the occasion of, its step is as follows.
The first step is according to measured data computer azimuth angle approximate value.At first, according to following public affairs
Formula calculating magnetic field strength level projection H _{x}, H _{y}
In the formula, For Magnetic Sensor in θ ≠ 0,3 geomagnetic field components that record under γ ≠ 0 state.
Then, according to H _{x}, H _{y}Calculate the magnetic azinuth approximate value
At last, according to the magnetic declination value D computer azimuth angle approximate value of locality
Second step is according to compensation formula Calculate more on the occasion ofΔ α, at first use position angle approximate value α during calculating _{m}Replace position angle actual value α, then repeatedly change as the need degree of precision.
In the 3rd step, calculate compensation back bearing measured value α '=α _{m}+ (Δ α).
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CN1181808A (en) *  19960313  19980513  莱卡公开股份有限公司  Process for determining the direction of the earth's magnetic field 
CN1216104A (en) *  19970210  19990505  莱卡地球系统公开股份有限公司  Method for determining correction parameters 
CN1323979A (en) *  20000512  20011128  精工电子有限公司  Calibration mechanism, electron compass having said mechanism and electron clock 
CN1627040A (en) *  20031213  20050615  三星电机株式会社  Method for searching for dip angle using tiltcompensated electric compass 

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Patent Citations (4)
Publication number  Priority date  Publication date  Assignee  Title 

CN1181808A (en) *  19960313  19980513  莱卡公开股份有限公司  Process for determining the direction of the earth's magnetic field 
CN1216104A (en) *  19970210  19990505  莱卡地球系统公开股份有限公司  Method for determining correction parameters 
CN1323979A (en) *  20000512  20011128  精工电子有限公司  Calibration mechanism, electron compass having said mechanism and electron clock 
CN1627040A (en) *  20031213  20050615  三星电机株式会社  Method for searching for dip angle using tiltcompensated electric compass 
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