CN102313543B - Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method - Google Patents
Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method Download PDFInfo
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Abstract
本发明公开一种基于巨磁阻传感器的地磁方位角测量系统、测量方法及正交补偿方法，从而实现对地磁方位角的全方位测量，减小由于三轴传感器非正交及零位偏差引起的测量误差。该测量系统，由地三轴磁测量模块、三轴姿态测量模块、温度测量模块、微处理器及上位机组成。本发明涉及到智能传感器技术、数字信号处理等技术领域。本发明针对巨磁阻传感器进行方位角测量时，由于数学模型导致方位角测量的多值问题，提出了一种以三轴加速度传感器为基础的智能卦限判别法，从而实现基于巨磁阻传感器的全方位角测量。同时，针对巨磁阻传感器三轴非正交及零位偏差导致的测量误差，提出了一种在微处理器内部完成的三轴正交及零位补偿方法，进而提高测量系统的测量精度。另外本发明还具有开发成本低、硬件电路简单等特点。
The invention discloses a geomagnetic azimuth measurement system, a measurement method and an orthogonal compensation method based on a giant magnetoresistive sensor, so as to realize the omnidirectional measurement of the geomagnetic azimuth and reduce the non-orthogonality and zero position deviation caused by the three-axis sensor. measurement error. The measurement system is composed of a ground three-axis magnetic measurement module, a three-axis attitude measurement module, a temperature measurement module, a microprocessor and a host computer. The invention relates to the technical fields of intelligent sensor technology, digital signal processing and the like. Aiming at the multi-valued problem of azimuth measurement caused by the mathematical model when the giant magnetoresistive sensor is used for azimuth measurement, the present invention proposes an intelligent hexagram limit discrimination method based on a three-axis acceleration sensor, thereby realizing a method based on a giant magnetoresistive sensor. omnidirectional angle measurement. At the same time, aiming at the measurement error caused by the three-axis non-orthogonality and zero position deviation of the giant magnetoresistive sensor, a three-axis orthogonality and zero position compensation method completed in the microprocessor is proposed to improve the measurement accuracy of the measurement system. In addition, the invention also has the characteristics of low development cost, simple hardware circuit and the like.
Description
Technical field
The present invention relates to a kind of magnetic azimuth angle measuring system based on giant magneto-resistance sensor and 3-axis acceleration sensor, and the comprehensive measurement implementation method of magnetic azinuth, it is more particularly to a kind of based on microprocessor for three axles of giant magneto-resistance sensor are orthogonal and zero compensation method.Belong to the field such as Digital Signal Processing and intelligent sensor technology.
Background technology
The mankind continue to develop, and in the field such as modern Aviation, space flight, navigation, geological prospecting, marine surveys, directional technology is essential, and azimuthal e measurement technology is more and more important.Azimuth measuring method common at this stage has：Gyroscope, radio heading device, GPS and magnetic course transmitter.The gyroscope degree of accuracy is high, good stability, but high cost, complex structure, and navigation error needs to carry out considerably complicated, careful initial alignment work with time integral.Radio heading device equipment is simple, but is susceptible to the interference of electromagnetic wave.GPS GPS accuracy is high, and round-the-clock positioning can be achieved, but there is city Grand Canyon effect, and GPS location can be caused to fail.Magnetic heading is to measure course using earth's magnetic field based on Magnetic Sensor, and simple in construction, signal is disposable, low cost, can directly measure carrier and magnetic field angle.Being commonly used for the geomagnetic sensor of magnetic heading needs the features such as high sensitivity, high-resolution, low-power consumption.
Conventional geomagnetic sensor can be classified as several at present：
1）, fluxgate type compass, such as CN1971309 of patent 200610101789.5 is a kind of " geomagnetic sensor and its azimuth calculation method ".In fluxgate type compass, twin shaft metering system being used fluxgate sensor, it is internal using inclinometer device complex structure, and limited precision, dynamic property is poor, is not suitable for fast moving objects more.
2）, reluctance type compass, with magnetoresistive transducer be measuring cell, no-rotary part, the small dynamic property of size is good, but conventional magnetoresistive element magneto-resistance effect only has 2%~3%, and resolution ratio is not high enough, measurement accuracy is shown in magnetic survey limited, it is impossible to realize high-precision magnetic survey.
In above-mentioned geomagnetic sensor, ground magnet-sensitive element complex structure, resolution ratio are low, bad dynamic performance, if there is also error for the measurement of the attitude data roll angle and the angle of pitch of equipment in geomagnetism detecting, it will carry out very big error to azimuthal measuring band, equipment precision is reduced.Regarding to the issue above, the present invention proposes a kind of magnetic azimuth angle measuring system based on giant magneto-resistance sensor and method, the features such as magnetic survey module has small volume, low cost, high precision.Meanwhile, using 3-axis acceleration sensor as posture measurement module, when overcoming two axle acceleration sensors as attitude measurement module, the non-monodrome problem of roll angle and the angle of pitch, so as to substantially increase magnetic azinuth measurement accuracy.
The content of the invention
The present invention is directed to the defect of prior art, proposes a kind of magnetic azimuth angle measuring system based on giant magneto-resistance sensor, measuring method and quadrature compensation method.On the basis of more accurate and more reliable using giant magneto-resistance sensor measurement earth's magnetic field, azimuthal uniqueness is realized with reference to 3-axis acceleration sensor, and nonopiate and zero drift is exported to three axle giant magnetoresistances compensate.
To reach above-mentioned purpose, idea of the invention is that：
When system carries out attitude data measurement, Sin sine relation is between the output and the angle of pitch, roll angle due to acceleration transducer, when double-axel acceleration sensor is as attitude measurement module, it may appear that the situation of the non-monodrome of the angle of pitch, roll angle.Simultaneously because being between magnetic survey data, the angle of pitch and roll angle and magnetic azinuth
Tangent relationship, obviously can there are problems that the non-monodrome of magnetic azinuth in the calculation, reduce the accuracy of magnetic azimuth angular measurement.
Giant magneto-resistance sensor utilizes the giant magneto-resistance sensor simultaneously Magnetic testi of three axial directions when carrying out magnetic survey.High-precision giant magneto-resistance sensor is generally difficult to avoid nonopiate phenomenon on three axial directions in the design, can cause non-orthogonal errors.Simultaneously as the giant magneto-resistance sensor on three axial directions has different zero drifts, these phenomenons will substantially reduce the magnetic survey precision of giant magneto-resistance sensor.
Conceived according to foregoing invention, the present invention uses following technical methods：
A kind of comprehensive measuring system of magnetic azinuth based on giant magneto-resistance sensor, is made up of power module, magnetic survey module, attitude measurement module, temperature-measuring module, microprocessor and host computer.Characterized in that, the power module provides 3.3V stabilized power sources for system；The magnetic survey module includes the signal processing circuit on X-axis, Y-axis and Z axis giant magneto-resistance sensor and correspondingly every axle；The attitude measurement module includes mutually orthogonal X, Y, Z 3-axis acceleration sensor；The magnetic survey module is connected to microprocessor A/D thief hatch；The attitude measurement module and temperature-measuring module are respectively connecting to the digital I/O port of microprocessor；The microprocessor is connected to host computer through RS232 mouthfuls.
The power supply mould uses voltage conversion chip 1117；The magnetic survey module uses three axle giant magneto-resistance sensor AAH002-02 connection RC low-pass filter circuits and instrument amplifier INA118；The attitude measurement module uses 3-axis acceleration sensor ADXL345；The temperature-measuring module uses temperature sensor DSB18B20；The microprocessor uses microprocessor MSP430F149, and after being pre-processed to Geomagnetism Information, pitch information and temperature information, magnetic azinuth is obtained after being handled by host computer.
One kind is based on giant magneto-resistance sensor magnetic azimuth angle measuring method, is detected using above-mentioned measuring system, it realizes comprising the following steps that for the comprehensive measurement in azimuth：
（1）Communication initialization between system initialization, including microprocessor and host computer, temperature sensor, 3-axis acceleration sensor, interrupts initialization；
（2）Microprocessor collection X-axis, Y-axis, the magnetic field data of Z axis
, system temperature data,
And gravitational acceleration component Ax, Ay, Az on three axial directions of acceleration transducer；
（3）Utilize geomagnetic field component
And the attitude information of 3-axis acceleration sensor, calculate the angle of pitch
And roll angle
, pass through model
Carry out azimuthal angle calculation.According to attitude information
WithAnd magnetic field data carries out azimuth
Comprehensive judgement.
（4）Export the unique azimuth of monodrome
。
The step（3）In, realize azimuth
Comprehensive judgement comprise the following steps that：
A kind of magnetic azimuth angular measurement quadrature compensation method based on giant magneto-resistance sensor, for the three nonopiate and zero drift problem in axial direction in geomagnetic field measuring unit, three axles based on microprocessor are orthogonal and zero compensation specific method is, it is characterised in that：Defining the magnetic field amount that actual coordinate ox3y3z3 and ideal coordinates OX3Y3Z3 is exported on three axial directions of giant magneto-resistance sensor is respectively
With
；The angle that oy3 is projected with it on the OY3Z3 of face is, its projection and OY3 angle are
；The angle that oz3 is projected with it on the OX3Z3 of face is
, its projection and OZ3 angle are
；The error of zero on the axle of giant magneto-resistance sensor three is made to be respectively
；DefinitionCan be respectively the magnetic field value of actual and preferable output and the vector form of zero bias.Equation group can then be passed through
After repeatedly demarcation, the 4 angle values and 3 error of zero values in above-mentioned model are calculated, compensation matrix are then write into microprocessor, you can obtain preferable orthogonal measuring value.
The present invention is compared with prior art compared with having the following advantages that and good effect：
(1) giant magneto-resistance sensor substantially increases measurement sensitivity and systemic resolution as magnetic field measurement unit.
(2) the monodrome characteristic under roll angle and angle of pitch any combination is realized, it is ensured that system output azimuth monodrome is unique as Attitude Measuring Unit using 3-axis acceleration sensor.
(3) orthogonal and zero compensation is realized in the microprocessor, improves the reliability of measurement result.
(4) system possesses temperature measurement unit, temperature compensated system is applied to wider array of temperature range.
(5) low cost, it is low in energy consumption.
Brief description of the drawings
Fig. 1 is the magnetic azimuth angle measuring system structured flowchart based on giant magneto-resistance sensor.
Fig. 2 is the flow chart that magnetic azinuth is realized.
Fig. 3 is the angle of pitch and the quadrant of roll angle uniqueness differentiation flow chart in Fig. 2.
Fig. 4 is that the quadrant of magnetic azinuth uniqueness in Fig. 2 differentiates flow chart.
Fig. 5 is the axle quadrature error figure of giant magneto-resistance sensor three.
Fig. 6 is that three axles are orthogonal and zero compensation scheme flow.
Embodiment
The preferred embodiments of the present invention are described with reference to the drawings as follows：
Embodiment one：
Referring to Fig. 1, this magnetic azimuth angle measuring system based on giant magneto-resistance sensor is by power module（1）, magnetic survey module（2）, attitude measurement module（3）, temperature-measuring module（4）, microprocessor（5）And host computer（6）Composition.The power module（1）3.3V stabilized power sources are provided for system；The magnetic survey module（2）Including X-axis, Y-axis and Z axis giant magneto-resistance sensor and correspondingly per axle on signal processing circuit；The attitude measurement module（3）Including mutually orthogonal X, Y, Z 3-axis acceleration sensor；The magnetic survey module（2）It is connected to microprocessor（5）A/D thief hatch；The attitude measurement module（3）And temperature-measuring module（4）It is respectively connecting to microprocessor（5）Digital I/O port；The microprocessor（5）Host computer is connected to through RS232 mouthfuls（6）.
Embodiment two：
The present embodiment and embodiment one are essentially identical, and special feature is：The power module（1）Using voltage conversion chip 1117；The magnetic survey module（2）Using three axle giant magneto-resistance sensor AAH002-02 connection RC low-pass filter circuits and instrument amplifier INA118；The attitude measurement module（3）Using 3-axis acceleration sensor ADXL345；The temperature-measuring module（4）Using temperature sensor DSB18B20；The microprocessor（5）Using microprocessor MSP430F149, after being pre-processed to Geomagnetism Information, pitch information and temperature information, pass through host computer（6）Magnetic azinuth is obtained after processing.
Embodiment three：
This magnetic azimuth angle measuring method based on giant magneto-resistance sensor, using above-mentioned measuring system.
Magnetic azinuth measurement procedure is as shown in Fig. 2 the monodrome implementation process that Fig. 3 is directed to roll angle and the angle of pitch in the resolving of step 3 azimuth in Fig. 2 carries out refinement description, and Fig. 4 carries out refinement description for azimuthal monodrome implementation process in step 3 azimuth resolving in Fig. 2.The system magnetic azimuth angular measurement is comprised the following steps that：
（1）Such as the system initialization of Fig. 2 flows 1；
（2）As Fig. 2 flows 2 gather sensing data.Including：Geomagnetic data
, attitude data Ax, Ay, Az, temperature data T；
（3）Such as Fig. 2 flows 3 resolve magnetic azinuth, including：
The angle of pitch
And roll angle
；
Flow 3 is worked as
Flow 4 is worked as
Flow 5 is worked as
Flow 6 is worked as
Flow 7 is worked as
Flow 8 is worked as
Flow 9 is worked as
Flow 10 is worked as
Flow 11 is worked as
Flow 12 is worked as
Flow 13 is worked as
Flow 14 is worked as
Order,
（4）Such as Fig. 2 flows 4, azimuth is exported
。
Example IV：
For above-mentioned measuring system, three axles based on microprocessor are orthogonal and zero compensation method is as follows：
Referring to Fig. 5, the axle of giant magneto-resistance sensor three is defined
Exporting magnetic field value is
The three axle errors of zero are respectively
；The axle of ideal quadrature three
Exporting magnetic field amount is
;Order
Axle with
Overlapping of axles,
Axle with
The angle of plane is
,
Axle is in face
On projection with
Angle be
；
Axle with
The angle of plane is
,
Axle is in face
On projection with
Angle be
；Then have:
Order
,
,
Then
, order
, compensation matrix is write into microprocessor, you can calculate preferable orthogonal measuring value in the microprocessor
, so as to improve azimuth
Measurement accuracy.
As shown in fig. 6, three axles of this measuring system are orthogonal and zero compensation method demarcation flow is as follows：
The record sensor output of flow 3 ground magnetic value
4 flow of flow, 5 pairs of 4 angles are repeated several times in flow 5 and 3 axle zero drifts are averaged；
Flow 7 exports compensation model A, B matrix.
Claims (1)
1. a kind of magnetic azimuth angle measuring method based on giant magneto-resistance sensor, the structure of the measuring system used for：By power module（1）, magnetic survey module（2）, attitude measurement module（3）, temperature-measuring module（4）, microprocessor（5）And host computer（6）Composition, it is characterised in that the power module（1）3.3V stabilized power sources are provided for system；The magnetic survey module（2）Including X-axis, Y-axis and Z axis giant magneto-resistance sensor and correspondingly per axle on signal processing circuit；The attitude measurement module（3）Including mutually orthogonal X, Y, Z 3-axis acceleration sensor；The magnetic survey module（2）It is connected to microprocessor（5）A/D thief hatch；The attitude measurement module（3）And temperature-measuring module（4）It is respectively connecting to microprocessor（5）Digital I/O port；The microprocessor（5）Host computer is connected to through RS232 mouthfuls（6）；
The power module（1）Using voltage conversion chip 1117；The magnetic survey module（2）Using three axle giant magneto-resistance sensor AAH002-02 connection RC low-pass filter circuits and instrument amplifier INA118；The attitude measurement module（3）Using 3-axis acceleration sensor ADXL345；The temperature-measuring module（4）Using temperature sensor DSB18B20；The microprocessor（5）Using microprocessor MSP430F149, after being pre-processed to Geomagnetism Information, pitch information and temperature information, pass through host computer（6）Obtain magnetic azinuth after processing to measure, it is characterised in that the concrete operation step of this method is as follows：
（1）System initialization；
（2）Magnetic-field component of the earth's magnetic field on the axle of X, Y, Z tri- in data acquisition, collection magnetic survey module, component of acceleration Ax, Ay, Az and the temperature data in temperature-measuring module in attitude measurement module on the axle of X, Y, Z tri-；
（3）The unique angle of pitch of monodrome is calculated using attitude data
And roll angle
, and combine geomagnetic data, pass through formula
Carry out magnetic azinuthComprehensive calculating；
（4）Export magnetic azinuth
；
The step（3）In, azimuth
Need to carry out comprehensive judgement, comprise the following steps that：
When
；
When
；
When
；
When
；
When
；
When
；
When
；
When
；
When
；
When
；
When
；
When
；
The magnetic survey module（2）The middle axle of giant magneto-resistance sensor three is nonopiate and has that three axles of zero drift are orthogonal and zero compensation method is：Defining the magnetic field amount that actual coordinate ox3y3z3 and ideal coordinates OX3Y3Z3 is exported on three axial directions of giant magneto-resistance sensor is respectively
With
；The angle that oy3 is projected with it on the OY3Z3 of face is
, its projection and OY3 angle are
；The angle that oz3 is projected with it on the OX3Z3 of face is
, its projection and OZ3 angle are
；The error of zero on the axle of giant magneto-resistance sensor three is made to be respectively
；Definition
It can be respectively the magnetic field value of actual and preferable output and the vector form of zero bias, can obtain：
Wherein, make
Then have
, it is possible to calculate that three axles are orthogonal and zero compensation model
,
It is comprised the following steps that：
（1）On calibrating table after repeatedly demarcation, compensation matrix is calculated；
（2）By model
Calculate in write-in microprocessor；
（3）Each measurement data
, in the microprocessor through model
Preferable geomagnetic data is exported after processing
。
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