CN101393023A - Digital magnetic compass on-line demarcating method based on geomagnetic model - Google Patents

Digital magnetic compass on-line demarcating method based on geomagnetic model Download PDF

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CN101393023A
CN101393023A CNA2008102257113A CN200810225711A CN101393023A CN 101393023 A CN101393023 A CN 101393023A CN A2008102257113 A CNA2008102257113 A CN A2008102257113A CN 200810225711 A CN200810225711 A CN 200810225711A CN 101393023 A CN101393023 A CN 101393023A
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magnetic
calibrated
magnetic flux
compass
positions
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CN101393023B (en
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富立
李娟�
王玲玲
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Beihang University
Beijing University of Aeronautics and Astronautics
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Beihang University
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Abstract

The invention discloses an online calibrating method for a digital magnetic compass based on a geomagnetic model, which aims to solve the problem that the calibrating requirements in a nonmagnetic environment are difficult to meet. The digital magnetic compass calibration comprises a geomagnetic model flux acquisition unit (11), a magnetic compass to be calibrated flux acquisition unit (21), a carrier magnetic course angle acquisition unit (12), a magnetic course angle to be calibrated acquisition unit (22), a magnetic course comparing unit (1) and an ellipsoid hypothesis compensating unit (2). The method adopts the magnetic course algorithmic method to respectively obtain a carrier magnetic compass magnetic course angle psi geomagnetism, and a magnetic compass to be calibrated magnetic course angle psi to be calibrated, and then adopts the ellipsoid hypothesis compensating method to eliminate the difference value delta psi between magnetic course angles to obtain the calibrated soft magnetism model parameterC1 and hard magnetism model parameterC2, and H geomagnetism= C1.H to be calibrated+C2. The calibrating method can calibrate the digital magnetic compass under the condition of magnetic field interference.

Description

Digital Magnetic Compass online calibration method based on geomagnetic model
Technical field
The present invention relates to a kind of demarcation to Digital Magnetic Compass, more particularly say, being meant is a kind ofly having under the magnetic environment (magnetic interference) online calibration method that adopts geomagnetic model that Digital Magnetic Compass is carried out.This scaling method is not demarcated environmental restraint, and demarcating steps is simple.
Background technology
Digital Magnetic Compass is because its advantage at aspects such as cost, performance, volume and precision, be applied in widely in the magnetic heading measuring system at present, and be applied in integrated navigation that inertial navigation system combines in, revise the course error that inertial navigation system calculates, further improve the course precision of navigational system.
The benchmark that Digital Magnetic Compass is measured the carrier course angle is magnetic meridian (being earth magnetic meridian).When Digital Magnetic Compass is installed on the carrier, because the influence of the ferromagnetic material that exists around the carrier, make that the direction of the magnetic direction of Digital Magnetic Compass position and terrestrial magnetic field is inconsistent, cause the course measuring error, the influence of this error comprises the influence of hard magnetic material and soft magnetic material.Hard magnetic material is equivalent to permanent magnet, its magnetic field intensity can be thought constant in a certain fixed environment, because the general volume of Digital Magnetic Compass is less, can think that hard magnetic material produces the fixing influence of value partially to each measurement axis of magnetic compass, this influence is along with increasing with the reducing of distance of hard magnetic material.Soft magnetic material itself does not produce magnetic field, exerts an influence when produced the measurement of disturbing magnetic field to magnetic compass by environmental magnetic field magnetization back, does not fix at the error component that magnetic compass produces on each.
Magnetic compass scaling method commonly used at present is that magnetic compass is measured the magnetic bias of demarcating three axles of magnetic compass under no magnetic environment, and will eliminate the real measured value of measured value conduct of magnetic bias, to there being the measured value under the magnetic environment to revise.This method can effectively be eliminated the influence of hard magnetic material, but demarcates the environmental requirement harshness, and general experimental situation is difficult to satisfy, so calibration experiment is difficult to finish.Simultaneously, this method can not be eliminated the influence of soft magnetic material, in actual use, often eliminates the influence of soft magnetic material to magnetic field by data processing method.
Summary of the invention
The objective of the invention is to propose a kind of Digital Magnetic Compass online calibration method based on geomagnetic model, this online calibration method adopts geomagnetic model to calculate the magnetic flux of carrier under 8 positions, must be through the FIR Filtering Processing for the magnetic flux of magnetic compass to be calibrated under 8 positions; Adopt magnetic heading calculating method to obtain carrier magnetic heading angle ψ respectively Ground, magnetic compass magnetic heading angle ψ to be calibrated To be calibrated, the difference DELTA ψ that adopts ellipsoid hypothesis penalty method to eliminate between the magnetic heading angle then obtains to demarcate soft magnetism model parameter C 1With Hard Magnetic model parameter C 2, and H Ground=C 1H To be calibrated+ C 2This scaling method can be demarcated Digital Magnetic Compass having under the magnetic interference condition.
A kind of Digital Magnetic Compass online calibration method based on geomagnetic model of the present invention, its Digital Magnetic Compass are demarcated and are included following processing unit: the magnetic flux acquiring unit 11 of geomagnetic model, magnetic compass magnetic flux acquiring unit 21 to be calibrated, carrier magnetic heading angle acquiring unit 12, magnetic heading to be calibrated angle acquiring unit 22, magnetic heading comparing unit 1 and ellipsoid hypothesis compensating unit 2.
The advantage of the Digital Magnetic Compass online calibration method based on geomagnetic model of the present invention is: (1) is not demarcated environmental restraint to the demarcation of Digital Magnetic Compass, can directly in the environment for use of Digital Magnetic Compass, demarcate, also can dispatch from the factory and advance rower calmly at Digital Magnetic Compass.(2) calibration process to Digital Magnetic Compass is simple, operation easily, and computing velocity is fast.(3) magnetic flux of utilization 8 positions is as revising data source, can be at any time calculates compensating parameter in the Digital Magnetic Compass error compensation model according to environmental change, thereby guaranteed the correction precision.(4) adopt ellipsoid hypothesis penalty method to eliminate the magnetic heading angle error, can eliminate the influence of hard magnetic material and soft magnetic material the measured value of Digital Magnetic Compass.(5) this scaling method can be demarcated by real-time online in the Digital Magnetic Compass use, eliminates magnetic heading is calculated in environmental change to Digital Magnetic Compass influence.
Description of drawings
Fig. 1 is the calibration structure block diagram that the present invention carries out Digital Magnetic Compass.
Fig. 2 is the coordinate synoptic diagram of space 8 positions.
Fig. 3 is the magnetic heading angular measurement error curve diagram through the calibrated Digital Magnetic Compass of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
A kind of Digital Magnetic Compass online calibration method based on geomagnetic model of the present invention proposes in order to solve the requirement that is difficult to satisfied no magnetic environment demarcation.This online calibration method can be carried out real-time calibration to magnetic compass in actual environment for use, can eliminate the magnetic environment interference that hard magnetic material and soft magnetic material cause, it is higher to revise the back precision, can satisfy the requirement of Digital Magnetic Compass measuring accuracy, and calibration process is simple to operate.
Referring to shown in Figure 1, a kind of Digital Magnetic Compass on-line proving based on geomagnetic model of the present invention includes following processing unit, the magnetic flux acquiring unit 11 of geomagnetic model, magnetic compass magnetic flux acquiring unit 21 to be calibrated, carrier magnetic heading angle acquiring unit 12, magnetic heading to be calibrated angle acquiring unit 22, magnetic heading comparing unit 1 and ellipsoid hypothesis compensating unit 2;
Based on the magnetic flux acquiring unit 11 of geomagnetic model longitude a according to carrier position (space flight position, aircraft place), latitude l and height h adopt geomagnetic model to calculate X-axis, Y-axis, the Z axle magnetic flux of carrier under the space 8 positions (as shown in Figure 2), thereby obtain carrier magnetic flux H ground, promptly
Figure A200810225711D00071
Carrier magnetic heading angle acquiring unit 12 adopts the H of magnetic heading calculating method to receiving GroundResolve processing, obtain carrier magnetic heading angle ψ Ground=[ψ 1, ψ 2..., ψ 8] export to magnetic heading comparing unit 1.
Magnetic compass magnetic flux acquiring unit to be calibrated 21 adopts under space 8 positions (as shown in Figure 2) respectively that X ' axle, Y ' axle, the Z ' axle to magnetic compass to be calibrated carries out the magnetic flux measurement, thereby obtains the magnetic flux of magnetic compass to be calibrated
Figure A200810225711D00081
And adopt finite impulse response (FIR) digital filter to magnetic flux
Figure A200810225711D00082
Carry out Filtering Processing, obtain filtered magnetic compass magnetic flux H to be calibrated To be calibrated, promptly
Figure A200810225711D00083
Magnetic heading to be calibrated angle acquiring unit 22 adopts the H of magnetic heading calculating method to receiving To be calibratedResolve processing, obtain magnetic compass magnetic heading to be calibrated angle
Figure A200810225711D00084
Export to magnetic heading comparing unit 1.
The ψ of 1 pair of reception of magnetic heading comparing unit Ground=[ψ 1, ψ 2..., ψ 8],
Figure A200810225711D00085
Carry out difference and relatively obtain magnetic heading angle error Δ ψ, promptly Δ ψ=| ψ To be calibrated-ψ Ground|.
Ellipsoid hypothesis compensating unit 2 adopts ellipsoid hypothesis penalty method that the Δ ψ that receives is eliminated Error processing, obtains the demarcation soft magnetism model parameter C of magnetic compass to be calibrated respectively 1With Hard Magnetic model parameter C 2, promptly C 1 = C xx , C xy , C xz C yx , C yy , C yz C zx , C zy , C zz , C 2＝{b x，b y，b z}。
In the present invention, soft magnetism peg model parameters C 1With filtered magnetic compass magnetic flux H to be calibrated To be calibratedProduct again with Hard Magnetic model parameter C 2Addition equals filtered carrier magnetic flux H Ground, promptly obtain the required peg model H of magnetic compass to be calibrated Ground=C 1H To be calibrated+ C 2
Adopt peg model H of the present invention Ground=C 1H To be calibrated+ C 2Calibrated Digital Magnetic Compass calculated amount obviously reduces, and has therefore improved the processing speed of processor in the Digital Magnetic Compass effectively.
A kind of Digital Magnetic Compass online calibration method based on geomagnetic model of the present invention includes following demarcating steps:
Step 1: obtain the carrier magnetic flux H under the geomagnetic model Ground
According to the longitude a of carrier position, latitude l and height h adopt geomagnetic model to calculate X-axis, Y-axis, the Z axle magnetic flux of carrier under the space 8 positions (as shown in Figure 2), thereby obtain carrier magnetic flux
Figure A200810225711D00087
In the formula,
X 1X-axis magnetic flux under the primary importance of expression carrier in the 8 positions of space,
X 2X-axis magnetic flux under the second place of expression carrier in the 8 positions of space,
X 8X-axis magnetic flux under the 8 positions of expression carrier in the 8 positions of space,
Y 1Y-axis magnetic flux under the primary importance of expression carrier in the 8 positions of space,
Y 2Y-axis magnetic flux under the second place of expression carrier in the 8 positions of space,
Y 8Y-axis magnetic flux under the 8 positions of expression carrier in the 8 positions of space,
Z 1Z axle magnetic flux under the primary importance of expression carrier in the 8 positions of space,
Z 2Z axle magnetic flux under the second place of expression carrier in the 8 positions of space,
Z 8Z axle magnetic flux under the 8 positions of expression carrier in the 8 positions of space;
In the present invention, described geomagnetic model is a process software that includes international geomagnetic reference field model (IGRF) and regional geomagnetic model correlation parameter.Can be by this software to the known longitude a of carrier, under the condition of latitude l and height h, and obtain magnetic flux.
Step 2: obtain filtered magnetic compass magnetic flux H to be calibrated To be calibrated
Employing is carried out magnetic flux to X ' axle, Y ' axle, the Z ' axle of magnetic compass to be calibrated respectively and is measured under space 8 positions (as shown in Figure 2), thereby obtains the magnetic flux of magnetic compass to be calibrated And adopt finite impulse response (FIR) digital filter to magnetic flux Carry out Filtering Processing, obtain filtered magnetic compass magnetic flux to be calibrated
Figure A200810225711D00093
In the formula,
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Figure A200810225711D00095
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Figure A200810225711D00096
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Figure A200810225711D00097
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711D00098
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711D00099
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711D000910
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux,
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux,
Figure A200810225711D000912
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux;
Step 3: obtain carrier magnetic heading angle ψ Ground
The carrier magnetic flux H that step 1 is obtained GroundAdopt magnetic heading calculating method to handle and obtain carrier magnetic heading angle ψ Ground=[ψ 1, ψ 2..., ψ 8],
ψ 1Magnetic heading angle under the primary importance of expression carrier in the 8 positions of space,
ψ 2Magnetic heading angle under the second place of expression carrier in the 8 positions of space,
ψ 8Magnetic heading angle under the 8 positions of expression carrier in the 8 positions of space;
In the present invention, magnetic heading calculating method is the magnetic heading calculating that combines and carry out according to disclosed formula 3 and formula 4 in " research of three magnetic compass high precision Error Compensation Algorithm ".Should " research of three magnetic compass high precision Error Compensation Algorithm " be disclosed in " the sensor world " in 2005.9.
Step 4: obtain magnetic compass magnetic heading angle ψ to be calibrated To be calibrated
The magnetic compass magnetic flux H filtered to be calibrated that step 2 is obtained To be calibratedAdopt magnetic heading calculating method to handle and obtain magnetic compass magnetic heading to be calibrated angle
Figure A200810225711D00101
Represent the magnetic heading angle under the primary importance of magnetic compass to be calibrated in the 8 positions of space,
Figure A200810225711D00103
Represent the magnetic heading angle under the second place of magnetic compass to be calibrated in the 8 positions of space,
Figure A200810225711D00104
Represent the magnetic heading angle under the 8 positions of magnetic compass to be calibrated in the 8 positions of space;
Step 5: the magnetic heading angle error Δ ψ that obtains magnetic compass to be calibrated
Magnetic compass magnetic heading angle ψ to be calibrated with the step 4 acquisition To be calibratedCarrier magnetic heading angle ψ with the step 3 acquisition GroundCarry out difference relatively, obtain the magnetic heading angle error Δ ψ of magnetic compass to be calibrated=| ψ To be calibrated-ψ Ground|.
Step 6: the demarcation soft magnetism model parameter C that obtains magnetic compass to be calibrated 1With Hard Magnetic model parameter C 2
Adopt ellipsoid hypothesis penalty method that the magnetic heading angle error Δ ψ of the magnetic compass to be calibrated that obtains in the step 5 is carried out error concealment and handle, obtain the demarcation soft magnetism model parameter C of magnetic compass to be calibrated 1With Hard Magnetic model parameter C 2This soft magnetism peg model parameters C 1With filtered magnetic compass magnetic flux H to be calibrated To be calibratedProduct again with Hard Magnetic model parameter C 2Addition equals filtered carrier magnetic flux H Ground, promptly obtain the peg model H of the Digital Magnetic Compass of demarcating required for the present invention Ground=C 1H To be calibrated+ C 2
Soft magnetism peg model parameter C 1 = C xx , C xy , C xz C yx , C yy , C yz C zx , C zy , C zz .
Hard Magnetic model parameter C 2={ b x, b y, b z.
Wherein, C XxBe illustrated in and eliminate the magnetic flux of soft magnetic material on magnetic compass X-axis to be calibrated in the X-axis magnetic flux of magnetic compass to be calibrated, be called for short the corrected parameter of X-axis X-axis magnetic flux.
C XyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis X-axis magnetic flux.
C XzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle X-axis magnetic flux.
C YxBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass X-axis to be calibrated, be called for short the corrected parameter of X-axis Y-axis magnetic flux.
C YyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis Y-axis magnetic flux.
C YzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle Y-axis magnetic flux.
C ZxBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass X-axis to be calibrated, be called for short the corrected parameter of X-axis Z axle magnetic flux.
C ZyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis Z axle magnetic flux.
C ZzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle Z axle magnetic flux.
b xBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated.
b yBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated.
b zBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated.
In the present invention, the elimination of described ellipsoid hypothesis penalty method is handled can be with reference to the introduction that discloses 3.3 joints in " the intelligent Magnetic Heading System with automatic error compensate function " document, and the document is published on the sensor technology (Journal of Transducer Technology) of 2002 the 21st the 12nd phases of volume.
Embodiment
To be installed on the aircraft through the calibrated Digital Magnetic Compass of the present invention, if aircraft is when high-altitude 1000m, speed 300km/h fly, carrying out magnetic flux successively under the 8 positions of space measures, the flight situation as shown in Figure 3, obtain from the analysis of flight situation, make aircraft flight course bearing accuracy in-1.5～+ 2 degree scopes through the calibrated Digital Magnetic Compass of the present invention.
Coordinate letter about the space 8 positions of indication of the present invention shows as shown in Figure 2, at the table that is described as follows of each position:
Primary importance Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 0 degree.
The second place Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 45 degree.
The 3rd position Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 90 degree.
The 4th position Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 135 degree.
The 5th position Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 180 degree.
The 6th position Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 225 degree.
The 7th position Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 270 degree.
8 positions Magnetic compass is 0 degree from initial installation coordinate system (sky, northeast) anglec of rotation θ, and γ is 0 degree, and φ is 315 degree.

Claims (2)

1, a kind of Digital Magnetic Compass online calibration method based on geomagnetic model is characterized in that having following demarcating steps:
Step 1: obtain the carrier magnetic flux H under the geomagnetic model Ground
According to the longitude a of carrier position, latitude l and height h adopt geomagnetic model to calculate X-axis, Y-axis, the Z axle magnetic flux of carrier under the 8 positions of space, thereby obtain carrier magnetic flux
Figure A200810225711C00021
In the formula,
X 1X-axis magnetic flux under the primary importance of expression carrier in the 8 positions of space,
X 2X-axis magnetic flux under the second place of expression carrier in the 8 positions of space,
X 8X-axis magnetic flux under the 8 positions of expression carrier in the 8 positions of space,
Y 1Y-axis magnetic flux under the primary importance of expression carrier in the 8 positions of space,
Y 2Y-axis magnetic flux under the second place of expression carrier in the 8 positions of space,
Y 8Y-axis magnetic flux under the 8 positions of expression carrier in the 8 positions of space,
Z 1Z axle magnetic flux under the primary importance of expression carrier in the 8 positions of space,
Z 2Z axle magnetic flux under the second place of expression carrier in the 8 positions of space,
Z 8Z axle magnetic flux under the 8 positions of expression carrier in the 8 positions of space;
Step 2: obtain filtered magnetic compass magnetic flux H to be calibrated To be calibrated
Employing is carried out magnetic flux to X ' axle, Y ' axle, the Z ' axle of magnetic compass to be calibrated respectively and is measured under the 8 positions of space, thereby obtains the magnetic flux of magnetic compass to be calibrated And adopt limited impulse response digital filter to magnetic flux
Figure A200810225711C0002190445QIETU
Carry out Filtering Processing, obtain filtered magnetic compass magnetic flux to be calibrated
Figure A200810225711C00024
In the formula,
Figure A200810225711C00025
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Figure A200810225711C00027
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered X ' axle magnetic flux,
Figure A200810225711C00028
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711C00029
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711C000210
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered Y ' axle magnetic flux,
Figure A200810225711C000211
Represent under the primary importance of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux,
Represent under the second place of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux,
Represent under the 8 positions of magnetic compass to be calibrated in the 8 positions of space through filtered Z ' axle magnetic flux;
Step 3: obtain carrier magnetic heading angle ψ Ground
The carrier magnetic flux H that step 1 is obtained GroundAdopting magnetic heading calculating method to handle obtains with reference to magnetic compass magnetic heading angle ψ Ground=[ψ 1, ψ 2..., ψ 8],
ψ 1Magnetic heading angle under the primary importance of expression carrier in the 8 positions of space,
ψ 2Magnetic heading angle under the second place of expression carrier in the 8 positions of space,
ψ 8Magnetic heading angle under the 8 positions of expression carrier in the 8 positions of space;
Step 4: obtain magnetic compass magnetic heading angle ψ to be calibrated To be calibrated
The magnetic compass magnetic flux H filtered to be calibrated that step 2 is obtained To be calibratedAdopt magnetic heading calculating method to handle and obtain magnetic compass magnetic heading to be calibrated angle
Figure A200810225711C00031
Represent the magnetic heading angle under the primary importance of magnetic compass to be calibrated in the 8 positions of space,
Figure A200810225711C00033
Represent the magnetic heading angle under the second place of magnetic compass to be calibrated in the 8 positions of space,
Figure A200810225711C00034
Represent the magnetic heading angle under the 8 positions of magnetic compass to be calibrated in the 8 positions of space;
Step 5: the magnetic heading angle error Δ ψ that obtains magnetic compass to be calibrated
Magnetic compass magnetic heading angle ψ to be calibrated with the step 4 acquisition To be calibratedCarrier magnetic heading angle ψ with the step 3 acquisition GroundCarry out difference relatively, obtain the magnetic heading angle error Δ ψ of magnetic compass to be calibrated=| ψ To be calibrated-ψ Ground|;
Step 6: obtain and demarcate soft magnetism model parameter C 1With Hard Magnetic model parameter C 2
Adopt ellipsoid hypothesis penalty method that the magnetic heading angle error Δ ψ of the magnetic compass to be calibrated that obtains in the step 5 is carried out error concealment and handle, obtain the demarcation soft magnetism model parameter C of magnetic compass to be calibrated 1With Hard Magnetic model parameter C 2Soft magnetism peg model parameter C 1 = C xx , C xy , C xz C yx , C yy , C yz C zx , C zy , C zz , Hard Magnetic model parameter C 2={ b x, b y, b z;
C XxBe illustrated in and eliminate the magnetic flux of soft magnetic material on magnetic compass X-axis to be calibrated in the X-axis magnetic flux of magnetic compass to be calibrated, be called for short the corrected parameter of X-axis X-axis magnetic flux,
C XyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis X-axis magnetic flux,
C XzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle X-axis magnetic flux,
C YxBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass X-axis to be calibrated, be called for short the corrected parameter of X-axis Y-axis magnetic flux,
C YyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis Y-axis magnetic flux,
C YzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle Y-axis magnetic flux,
C ZxBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass X-axis to be calibrated, be called for short the corrected parameter of X-axis Z axle magnetic flux,
C ZyBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass Y-axis to be calibrated, be called for short the corrected parameter of Y-axis Z axle magnetic flux,
C ZzBe illustrated in and eliminate the magnetic flux that soft magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated on magnetic compass Z axle to be calibrated, be called for short the corrected parameter of Z axle Z axle magnetic flux,
b xBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the X-axis magnetic flux of magnetic compass to be calibrated,
b yBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the Y-axis magnetic flux of magnetic compass to be calibrated,
b zBe illustrated in and eliminate the magnetic flux that hard magnetic material produces in the Z axle magnetic flux of magnetic compass to be calibrated;
This soft magnetism peg model parameters C 1With filtered magnetic compass magnetic flux H to be calibrated To be calibratedProduct again with Hard Magnetic model parameter C 2Addition equals filtered carrier magnetic compass magnetic flux H Ground, promptly obtain the peg model H of the Digital Magnetic Compass of demarcating required for the present invention Ground=C 1H To be calibrated+ C 2
2, the Digital Magnetic Compass online calibration method based on geomagnetic model according to claim 1 is characterized in that the Digital Magnetic Compass on-line proving includes following processing unit: the magnetic flux acquiring unit (11) of geomagnetic model, magnetic compass magnetic flux acquiring unit to be calibrated (21), carrier magnetic heading angle acquiring unit (12), magnetic heading to be calibrated angle acquiring unit (22), magnetic heading comparing unit (1) and ellipsoid hypothesis compensating unit (2);
The magnetic flux acquiring unit (11) of geomagnetic model is according to the longitude a of carrier position, and latitude l and height h adopt geomagnetic model to calculate X-axis, Y-axis, the Z axle magnetic flux of carrier under the 8 positions of space, thereby obtain carrier magnetic flux H Ground, promptly
Figure A200810225711C00041
Carrier magnetic heading angle acquiring unit (12) adopts the H of magnetic heading calculating method to receiving GroundResolve processing, obtain with reference to magnetic compass magnetic heading angle ψ Ground=[ψ 1, ψ 2..., ψ 8] export to magnetic heading comparing unit (1);
Magnetic compass magnetic flux acquiring unit to be calibrated (21) adopts under the 8 positions of space respectively that X ' axle, Y ' axle, the Z ' axle to magnetic compass to be calibrated carries out the magnetic flux measurement, thereby obtains the magnetic flux of magnetic compass to be calibrated
Figure A200810225711C00042
And adopt limited impulse response digital filter to magnetic flux Carry out Filtering Processing, it is to be calibrated to obtain filtered magnetic compass magnetic flux H to be calibrated, promptly
Figure A200810225711C00044
Magnetic heading to be calibrated angle acquiring unit (22) adopts the H of magnetic heading calculating method to receiving To be calibratedResolve processing, obtain magnetic compass magnetic heading to be calibrated angle
Figure A200810225711C00045
Export to magnetic heading comparing unit (1); The ψ of magnetic heading comparing unit (1) to receiving Ground=[ψ 1, ψ 2..., ψ 8],
Figure A200810225711C00046
Carry out difference and relatively obtain magnetic heading angle error Δ ψ, promptly Δ ψ=| ψ To be calibrated-ψ Ground|;
Ellipsoid hypothesis compensating unit (2) adopts ellipsoid hypothesis penalty method that the Δ ψ that receives is eliminated Error processing, obtains the demarcation soft magnetism model parameter C of magnetic compass to be calibrated respectively 1With Hard Magnetic model parameter C 2, promptly C 1 = C xx , C xy , C xz C yx , C yy , C yz C zx , C zy , C zz , C 2＝{b x，b y，b z}；
Described soft magnetism peg model parameters C 1With filtered magnetic compass magnetic flux H to be calibrated To be calibratedProduct again with Hard Magnetic model parameter C 2Addition equals filtered carrier magnetic compass magnetic flux H Ground, promptly obtain the required peg model H of magnetic compass to be calibrated Ground=C 1H To be calibrated+ C 2
CN2008102257113A 2008-11-07 2008-11-07 Digital magnetic compass on-line demarcating method based on geomagnetic model Expired - Fee Related CN101393023B (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102506898A (en) * 2011-11-03 2012-06-20 中国科学院自动化研究所 Genetic algorithm-based calibration method for inertial/geomagnetic sensors
CN105675905A (en) * 2016-01-28 2016-06-15 北京理工大学 Rotating projectile rotation speed measurement error compensation method based on geomagnetic information
CN113884105A (en) * 2021-09-27 2022-01-04 陕西航天时代导航设备有限公司 Disc calibration method for magnetometer calibration
CN113884105B (en) * 2021-09-27 2024-07-05 陕西航天时代导航设备有限公司 Disc calibration method for magnetometer calibration

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102506898A (en) * 2011-11-03 2012-06-20 中国科学院自动化研究所 Genetic algorithm-based calibration method for inertial/geomagnetic sensors
CN102506898B (en) * 2011-11-03 2014-05-07 中国科学院自动化研究所 Genetic algorithm-based calibration method for inertial/geomagnetic sensors
CN105675905A (en) * 2016-01-28 2016-06-15 北京理工大学 Rotating projectile rotation speed measurement error compensation method based on geomagnetic information
CN105675905B (en) * 2016-01-28 2018-10-09 北京理工大学 A kind of rotary bullet tachometric survey error compensating method based on Geomagnetism Information
CN113884105A (en) * 2021-09-27 2022-01-04 陕西航天时代导航设备有限公司 Disc calibration method for magnetometer calibration
CN113884105B (en) * 2021-09-27 2024-07-05 陕西航天时代导航设备有限公司 Disc calibration method for magnetometer calibration

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