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 PDF

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CN102313543B
CN102313543B CN 201110192080 CN201110192080A CN102313543B CN 102313543 B CN102313543 B CN 102313543B CN 201110192080 CN201110192080 CN 201110192080 CN 201110192080 A CN201110192080 A CN 201110192080A CN 102313543 B CN102313543 B CN 102313543B
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giant magneto
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CN102313543A (en
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付敬奇
郑学理
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University of Shanghai for Science and Technology
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Abstract

The invention discloses a magnetic azimuth measuring system based on a giant magneto-resistance sensor, a measuring method and a perpendicular compensation method so as to realize omnibearing measurement of a magnetic azimuth and reduce measurement error caused by non-orthogonal and zero deviation of a three-axis sensor. The measuring system comprises an earth three-axis magnetic measurement module, a three-axis attitude measurement module, a temperature measurement module, a microprocessor and an upper computer. The invention relates to the technical field of intelligent sensor technologies, digital signal processing and the like. The invention provides an intelligent octant judgment method based on a three-axis acceleration sensor against the multi-valued problem of azimuth measurement caused by a mathematical model when the giant magneto-resistance sensor is used for performing the azimuth measurement so as to realize the omnibearing angle measurement based on the giant magneto-resistance sensor. Simultaneously, the invention provides a three-axis orthogonal and zero compensation method which is completed in the microprocessor against the measurement error caused by the three-axis non-orthogonal and zero deviation of the giant magneto-resistance sensor so as to improve the measurement precision of the measuring system. In addition, the invention further has the characteristics of low development cost, simple hardware circuit and the like.

Description

Magnetic azimuth angle measuring system, measuring method and quadrature compensation method based on giant magneto-resistance sensor
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
Figure 2011101920801100002DEST_PATH_IMAGE001
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
Figure 496673DEST_PATH_IMAGE002
, system temperature data,
And gravitational acceleration component Ax, Ay, Az on three axial directions of acceleration transducer；
（3）Utilize geomagnetic field component
Figure 273130DEST_PATH_IMAGE002
And the attitude information of 3-axis acceleration sensor, calculate the angle of pitch
Figure 2011101920801100002DEST_PATH_IMAGE003
And roll angle
Figure 477847DEST_PATH_IMAGE004
, pass through model
Figure 2011101920801100002DEST_PATH_IMAGE005
Carry out azimuthal angle calculation.According to attitude information
Figure 598118DEST_PATH_IMAGE003
WithAnd magnetic field data carries out azimuth
Figure 525940DEST_PATH_IMAGE006
Comprehensive judgement.
（4）Export the unique azimuth of monodrome
Figure 970867DEST_PATH_IMAGE006
。
The step（3）In, realize azimuth
Figure 973458DEST_PATH_IMAGE006
Comprehensive judgement comprise the following steps that：
Figure 2011101920801100002DEST_PATH_IMAGE007
According to individual axis acceleration measuring principle, by handling the output signal of tri- axial directions of acceleration transducer ADL345, gravitational acceleration component Ax, Ay, Az of three axial directions are obtained.By formula With
Figure 785742DEST_PATH_IMAGE010
,
Figure 2011101920801100002DEST_PATH_IMAGE011
Calculate attitude angle.By the size to Ax, Ay, Az and it is positive and negative be combined differentiation, realize to the angle of pitch
Figure 965051DEST_PATH_IMAGE003
And roll angleComprehensive judgement；
Figure 883645DEST_PATH_IMAGE012
Microprocessor to Ax, Ay, Az by being more than 0, less than 0, equal to 0, equal to g, equal to-g, this 5 kinds of situations are combined differentiation, finally realizes to the angle of pitch
Figure 172806DEST_PATH_IMAGE003
And roll angle
Figure 636149DEST_PATH_IMAGE004
Comprehensive judgement；
Figure 2011101920801100002DEST_PATH_IMAGE013
Flatly magnetic component is calculated according to attitude data
Figure 918226DEST_PATH_IMAGE014
, order
Figure 2011101920801100002DEST_PATH_IMAGE015
,
Figure 603154DEST_PATH_IMAGE016
, use
Figure 2011101920801100002DEST_PATH_IMAGE017
By azimuth
Figure 109221DEST_PATH_IMAGE018
It is divided into after 4 quadrants, by comparing
Figure 263122DEST_PATH_IMAGE014
Size, and judge
Figure 145627DEST_PATH_IMAGE014
It is positive and negative, determine azimuth
Figure 186527DEST_PATH_IMAGE018
Occurrence.
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
Figure 2011101920801100002DEST_PATH_IMAGE019
With
Figure 801179DEST_PATH_IMAGE002
；The angle that oy3 is projected with it on the OY3Z3 of face is, its projection and OY3 angle are
Figure 2011101920801100002DEST_PATH_IMAGE021
；The angle that oz3 is projected with it on the OX3Z3 of face is
Figure 112261DEST_PATH_IMAGE022
, its projection and OZ3 angle are
Figure 2011101920801100002DEST_PATH_IMAGE023
；The error of zero on the axle of giant magneto-resistance sensor three is made to be respectively
Figure 256934DEST_PATH_IMAGE024
；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
Figure 58799DEST_PATH_IMAGE026
Figure 2011101920801100002DEST_PATH_IMAGE027
Figure 984030DEST_PATH_IMAGE028
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
Figure 146021DEST_PATH_IMAGE002
, attitude data Ax, Ay, Az, temperature data T；
（3）Such as Fig. 2 flows 3 resolve magnetic azinuth, including：
Figure 2011101920801100002DEST_PATH_IMAGE029
As Fig. 3 obtains the unique angle of pitch of monodrome
Figure 660048DEST_PATH_IMAGE030
And roll angle
Figure 944399DEST_PATH_IMAGE004
Flow 1 reads data Ax, Ay, Az
Flow 2 brings Ax, Ay into equation respectively
Figure DEST_PATH_IMAGE031
Calculate
The angle of pitch
Figure 29029DEST_PATH_IMAGE003
And roll angle
Figure 57028DEST_PATH_IMAGE004
；
Flow 3 is worked as
Figure 921167DEST_PATH_IMAGE032
Flow 4 is worked as
Figure DEST_PATH_IMAGE033
Flow 5 is worked as
Figure 314102DEST_PATH_IMAGE034
Flow 6 is worked as
Figure DEST_PATH_IMAGE035
Flow 7 is worked as
Figure 400876DEST_PATH_IMAGE036
Flow 8 is worked as
Flow 9 is worked as
Flow 10 is worked as
Flow 11 is worked as
Figure 940758DEST_PATH_IMAGE040
Flow 12 is worked as
Figure DEST_PATH_IMAGE041
Flow 13 is worked as
Figure 255327DEST_PATH_IMAGE042
Flow 14 is worked as
Figure DEST_PATH_IMAGE043
Figure 314550DEST_PATH_IMAGE012
As Fig. 4 obtains the unique magnetic azinuth of monodrome
Figure 684352DEST_PATH_IMAGE006
Flow 1 reads earth magnetism and attitude data
Flow 2 calculates geomagnetism horizontal component
Figure 840527DEST_PATH_IMAGE044
                        
Figure 1
            
Figure 371051DEST_PATH_IMAGE046
Order,
Figure DEST_PATH_IMAGE047
Flow 3
Figure 278964DEST_PATH_IMAGE048
Flow 4
Figure DEST_PATH_IMAGE049
Flow 5
Figure 978061DEST_PATH_IMAGE050
Flow 6
Figure DEST_PATH_IMAGE051
（4）Such as Fig. 2 flows 4, azimuth is exported
Figure 883700DEST_PATH_IMAGE006
。
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
Figure 979832DEST_PATH_IMAGE052
Exporting magnetic field value is
Figure DEST_PATH_IMAGE053
Figure DEST_PATH_IMAGE055
The three axle errors of zero are respectively
Figure 946837DEST_PATH_IMAGE024
；The axle of ideal quadrature three
Figure 85694DEST_PATH_IMAGE056
Exporting magnetic field amount is
Figure 91959DEST_PATH_IMAGE002
;Order
Figure DEST_PATH_IMAGE057
Axle with
Figure 607254DEST_PATH_IMAGE058
Overlapping of axles,
Figure DEST_PATH_IMAGE059
Axle with
Figure 530210DEST_PATH_IMAGE060
The angle of plane is
Figure 26919DEST_PATH_IMAGE020
,
Figure DEST_PATH_IMAGE061
Axle is in face
Figure 832064DEST_PATH_IMAGE060
On projection with
Figure 823154DEST_PATH_IMAGE062
Angle be
Figure 283174DEST_PATH_IMAGE021
；
Figure DEST_PATH_IMAGE063
Axle with
Figure 950784DEST_PATH_IMAGE064
The angle of plane is
Figure 508804DEST_PATH_IMAGE022
,
Figure 38006DEST_PATH_IMAGE063
Axle is in face
Figure 686287DEST_PATH_IMAGE064
On projection with
Figure DEST_PATH_IMAGE065
Angle be
Figure 275531DEST_PATH_IMAGE023
；Then have:
Figure 242219DEST_PATH_IMAGE026
Figure 637429DEST_PATH_IMAGE027
Order
Figure 211946DEST_PATH_IMAGE066
,
Figure DEST_PATH_IMAGE067
,
Figure 167395DEST_PATH_IMAGE068
Then
Figure 303978DEST_PATH_IMAGE070
, order
Figure DEST_PATH_IMAGE071
, compensation matrix is write into microprocessor, you can calculate preferable orthogonal measuring value in the microprocessor
Figure 159808DEST_PATH_IMAGE002
, so as to improve azimuth
Figure 153172DEST_PATH_IMAGE006
Measurement accuracy.
As shown in fig. 6, three axles of this measuring system are orthogonal and zero compensation method demarcation flow is as follows：
Flow 1 installs measuring system by Fig. 5 requirements on calibrating table；
Flow 2 exists
Figure 907501DEST_PATH_IMAGE056
Magnetic field is added on request on three axles
The record sensor output of flow 3 ground magnetic value
Figure 847775DEST_PATH_IMAGE019
Flow 4 repeats flow 2 and flow 3 has altogether 7 times（Change magnetic field intensity in prescribed limit every time）, according to formula
Figure 371160DEST_PATH_IMAGE070
Calculate 4 angles and 3 axle zero drifts；
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
Figure 2011101920801100001DEST_PATH_IMAGE002
And roll angle
Figure 2011101920801100001DEST_PATH_IMAGE003
, and combine geomagnetic data, pass through formula
Figure 2011101920801100001DEST_PATH_IMAGE004
Carry out magnetic azinuthComprehensive calculating；
（4）Export magnetic azinuth
Figure 564567DEST_PATH_IMAGE005
；
The step（3）In, azimuth
Figure 344304DEST_PATH_IMAGE005
Need to carry out comprehensive judgement, comprise the following steps that：
Figure 2011101920801100001DEST_PATH_IMAGE006
Microprocessor（5）Component of acceleration Ax, Ay that 3-axis acceleration sensor is measured bring equation into
Figure DEST_PATH_IMAGE007
Calculate the angle of pitch
Figure 422070DEST_PATH_IMAGE002
And roll angle
Figure 174125DEST_PATH_IMAGE003
；
Figure DEST_PATH_IMAGE008
Microprocessor（5）By being more than 0 to Ax, Ay, Az, less than 0, equal to 0, equal to g, equal to-g, this 5 kinds of situations are combined differentiation, finally realize to the angle of pitch
Figure 183538DEST_PATH_IMAGE002
And roll angleComprehensive judgement；Comprise the following steps that：
When
Figure 668077DEST_PATH_IMAGE002
；
When
Figure 3243DEST_PATH_IMAGE004
；
When
Figure 669848DEST_PATH_IMAGE006
；
When
Figure 748662DEST_PATH_IMAGE008
；
When
Figure 246640DEST_PATH_IMAGE010
；
When
Figure 955970DEST_PATH_IMAGE012
；
When
Figure 906608DEST_PATH_IMAGE014
；
When
Figure 726797DEST_PATH_IMAGE016
；
When
Figure 79281DEST_PATH_IMAGE018
；
When
Figure 21829DEST_PATH_IMAGE020
；
When
Figure 397446DEST_PATH_IMAGE022
；
When
Figure 818063DEST_PATH_IMAGE024
；
Figure DEST_PATH_IMAGE009
Flatly magnetic component is for definition
Figure DEST_PATH_IMAGE010
, according to attitude matrix and step
Figure 587155DEST_PATH_IMAGE008
In the angle of pitch that draws
Figure 944449DEST_PATH_IMAGE002
And roll angle
Figure 937813DEST_PATH_IMAGE003
, solve
Figure 692142DEST_PATH_IMAGE010
；Order
Figure DEST_PATH_IMAGE011
Azimuth is realized by following differentiation
Figure 366837DEST_PATH_IMAGE005
Comprehensive judgement；
Figure DEST_PATH_IMAGE013
Figure DEST_PATH_IMAGE014
Figure DEST_PATH_IMAGE015
；
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
Figure DEST_PATH_IMAGE016
With
Figure 14856DEST_PATH_IMAGE001
；The angle that oy3 is projected with it on the OY3Z3 of face is
Figure DEST_PATH_IMAGE017
, its projection and OY3 angle are
Figure DEST_PATH_IMAGE018
；The angle that oz3 is projected with it on the OX3Z3 of face is
Figure DEST_PATH_IMAGE019
, its projection and OZ3 angle are
Figure DEST_PATH_IMAGE020
；The error of zero on the axle of giant magneto-resistance sensor three is made to be respectively
Figure DEST_PATH_IMAGE021
；Definition
Figure DEST_PATH_IMAGE022
It can be respectively the magnetic field value of actual and preferable output and the vector form of zero bias, can obtain：
Figure DEST_PATH_IMAGE023
Figure DEST_PATH_IMAGE024
Figure DEST_PATH_IMAGE025
Wherein, make
Figure DEST_PATH_IMAGE026
Then have
Figure DEST_PATH_IMAGE027
, it is possible to calculate that three axles are orthogonal and zero compensation model
Figure DEST_PATH_IMAGE028
,
It is comprised the following steps that： 
（1）On calibrating table after repeatedly demarcation, compensation matrix is calculated；
（2）By model
Figure 821532DEST_PATH_IMAGE028
Calculate in write-in microprocessor；
（3）Each measurement data
Figure 63157DEST_PATH_IMAGE016
, in the microprocessor through model
Figure 338281DEST_PATH_IMAGE028
Preferable geomagnetic data is exported after processing
Figure 168702DEST_PATH_IMAGE001
。
CN 201110192080 2011-07-11 2011-07-11 Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method Expired - Fee Related CN102313543B (en)

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