CN103454607A - Method of correcting signals of magnetic field sensor and vehicle navigation system based on method - Google Patents

Method of correcting signals of magnetic field sensor and vehicle navigation system based on method Download PDF

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CN103454607A
CN103454607A CN2012101702750A CN201210170275A CN103454607A CN 103454607 A CN103454607 A CN 103454607A CN 2012101702750 A CN2012101702750 A CN 2012101702750A CN 201210170275 A CN201210170275 A CN 201210170275A CN 103454607 A CN103454607 A CN 103454607A
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magnetic field
field sensor
value
angle
field signal
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CN103454607B (en
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邓恒
杨凯
张崇生
郝飞
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SAIC Motor Corp Ltd
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Abstract

The invention relates to the vehicle navigation technology, in particular to a method of correcting signals of a magnetic field sensor and a vehicle navigation system based on the method. According to the embodiment, the signals required by positioning are acquired through the sensor fitted in a vehicle; accordingly, dependence on a GPS system is got rid of, and application and equipment costs are reduced; in addition, by means of the method, errors in measuring the magnetic field sensor can be well eliminated, and accordingly high-precision positioning and measurement is provided.

Description

The bearing calibration of magnetic field sensor signal and the Vehicular navigation system based on the method
Technical field
The present invention relates to the automobile navigation technology, particularly the bearing calibration of magnetic field sensor signal and the Vehicular navigation system based on this bearing calibration.
Background technology
Along with the development of electronic technology, location technology has had significant progress and has been applied to various aspects, and wherein automobile navigation is a very important application.GPS (GPS) navigator is current locating device more commonly used, and it receives gps signal and also according to receiving signal, determines receiving side signal dimension and longitude on earth, and the user can be known the information such as its current location and driving route thus.But GPS navigation equipment also has obvious shortcoming.For example, its location must depend on gps system, once provide the satellite of navigation signal to break down, will cause systemic breakdown.Moreover purchasing with use cost of GPS navigation equipment is all more expensive, has restricted it and further used and promote.
Summary of the invention
An object of the present invention is to provide a kind of bearing calibration of magnetic field sensor signal, it has advantages of that precision is high, cost is low.
Above-mentioned purpose can realize by following technical proposal:
A kind of bearing calibration of magnetic field sensor signal, comprise the following steps:
Obtain the field signal that three orthogonal magnetic field sensors measure;
According to the described field signal of following manner correction:
Figure 339351DEST_PATH_IMAGE001
Figure 512843DEST_PATH_IMAGE002
Here, B x, B y, B zbe respectively the field signal that three described magnetic field sensors are measured, B xt, B yt, B ztbe respectively described field signal B x, B y, B zcorrected value,
Figure 523524DEST_PATH_IMAGE003
,
Figure 491480DEST_PATH_IMAGE004
,
Figure 525296DEST_PATH_IMAGE005
x, the Y of the rectangular coordinate system when being respectively one of them magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 236900DEST_PATH_IMAGE004
be 90 0,
Figure 790503DEST_PATH_IMAGE006
,
Figure 929360DEST_PATH_IMAGE007
,
Figure 512788DEST_PATH_IMAGE008
x, the Y of the rectangular coordinate system when being respectively the another one magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 434608DEST_PATH_IMAGE009
,
Figure 419882DEST_PATH_IMAGE010
,
Figure 729640DEST_PATH_IMAGE011
be respectively X, the Y of the rectangular coordinate system when also having a magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis.
Preferably, in above-mentioned bearing calibration, described magnetic field sensor adopts magnetoresistive transducer to realize.
Preferably, in above-mentioned bearing calibration, by following manner, determine transformation matrix A 3 * 3:
By transformation matrix A 3 * 3be reduced to:
Figure 800364DEST_PATH_IMAGE012
Make the default angle of the each rotation of described magnetic field sensor, thereby and measure corresponding field signal and obtain multi-group data;
By the optimization solution that solves following Optimized model, determine
Figure 306301DEST_PATH_IMAGE013
,
Figure 146081DEST_PATH_IMAGE014
,
Figure 626741DEST_PATH_IMAGE015
,
Figure 919182DEST_PATH_IMAGE016
, :
Figure 408249DEST_PATH_IMAGE018
Here, i
Figure 59810DEST_PATH_IMAGE019
j, 1
Figure 105127DEST_PATH_IMAGE020
i n, 1
Figure 672298DEST_PATH_IMAGE020
j
Figure 760340DEST_PATH_IMAGE020
n, n is the number of times of the default angle of rotation, B i xt, B j xtbe respectively the field signal recorded after the default angle of described one of them magnetic field sensor i and j rotation, B i yt, B j ytbe respectively the field signal recorded after the default angle of described another one magnetic field sensor i and j rotation, B i zt, B j ztbeing respectively described also has a magnetic field sensor i and rotates the field signal recorded after default angle j time.
Preferably, in above-mentioned bearing calibration, according to the following step, according to described Optimized model, determine described parameter:
(1) for N population { X 1(t) ... X i(t) ... X n(t) }, calculate each individual objective function F (X i(t)), wherein t is iterations, X i(t)={ a i j(t) }, 1
Figure 214324DEST_PATH_IMAGE020
j
Figure 413224DEST_PATH_IMAGE020
5, corresponding to one group
Figure 754206DEST_PATH_IMAGE013
,
Figure 13149DEST_PATH_IMAGE014
,
Figure 767479DEST_PATH_IMAGE015
,
Figure 504491DEST_PATH_IMAGE016
,
Figure 716291DEST_PATH_IMAGE017
;
(2) for value, be X i(t) i is individual, calculates according to the following formula each component a i j(t) evolution value a i ' j(t) to obtain this individual evolutional form X ' i(t):
Figure 146136DEST_PATH_IMAGE021
Here, be the stochastic evolution increment of j component, span is [1,1];
(3) if i individual value is X i(t) it is evolutional form X that objective function is greater than its value ' i(t) objective function, i individual value is X ' i, otherwise value is X (t) i(t); And
(4) if iterations t reaches preset value, the individuality of target function value minimum in N population is defined as to optimum solution, otherwise, return to step (2).
Preferably, in above-mentioned bearing calibration, described stochastic evolution increment
Figure 662885DEST_PATH_IMAGE022
follow Gaussian distribution.
Of the present invention also have a purpose to be to provide a kind of Vehicular navigation system that utilizes magnetic field sensor, and it has advantages of that precision is high, cost is low.
Above-mentioned purpose can realize by following technical proposal:
A kind of Vehicular navigation system that utilizes magnetic field sensor comprises:
The direction sensing unit comprises:
Three orthogonal magnetic field sensors, wherein two described magnetic field sensors are installed with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively;
Two mutually perpendicular accelerometers, install with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively;
The distance measurement unit, the displacement increment that its measuring vehicle occurs during from previous moment to current time;
The processing unit be connected with the distance measurement unit with described direction sensing unit, it calculates the modified value of the field signal of current time, calculate the vertical inclination angle of magnetic azimuth and vehicle according to the modified value of described field signal and acceleration signal, and the displacement increment occurred during from previous moment to current time according to the vertical inclination angle of described magnetic azimuth, vehicle and vehicle calculates the change in location of described vehicle current time with respect to previous moment;
With the display unit that described processing unit is connected, it shows the operating path of vehicle,
Wherein, described processing unit calculates the modified value of described field signal according to following manner:
Figure 244039DEST_PATH_IMAGE023
Figure 579205DEST_PATH_IMAGE002
Here, B x, B y, B zbe respectively the field signal that three described magnetic field sensors are measured, B xt, B yt, B ztbe respectively described field signal B x, B y, B zcorrected value, ,
Figure 386941DEST_PATH_IMAGE004
, x, the Y of the rectangular coordinate system when being respectively one of them magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 577937DEST_PATH_IMAGE004
be 90 0,
Figure 794155DEST_PATH_IMAGE006
,
Figure 614343DEST_PATH_IMAGE007
,
Figure 966827DEST_PATH_IMAGE008
x, the Y of the rectangular coordinate system when being respectively the another one magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 909375DEST_PATH_IMAGE009
,
Figure 347310DEST_PATH_IMAGE010
,
Figure 453413DEST_PATH_IMAGE011
be respectively X, the Y of the rectangular coordinate system when also having a magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis.
According to embodiments of the invention, because the required signal in location is to utilize the sensor be equipped with on vehicle to obtain, therefore broken away from the dependence to gps system, reduced use and equipment cost.In addition, adopt the measuring error that can eliminate well magnetic field sensor according to the modification method of the embodiment of the present invention, therefore high-precision location survey is provided.
From following detailed description by reference to the accompanying drawings, will make above and other objects of the present invention and advantage more fully clear.
The accompanying drawing explanation
Fig. 1 is the process flow diagram of the automobile navigation method that utilizes magnetic field sensor according to one embodiment of the invention.
Fig. 2 shows according to three magnetic field sensors of one embodiment of the invention and the installation site schematic diagram of two accelerometers.
Fig. 3 is according to the embodiment of the present invention schematic diagram that allocation changes really.
Fig. 4 is the process flow diagram according to the measuring-signal modification method of the magnetic field sensor of one embodiment of the invention.
Fig. 5 is the schematic diagram of the Vehicular navigation system that utilizes magnetic field sensor according to one embodiment of the present of invention.
Embodiment
Below by being described with reference to the drawings, the specific embodiment of the present invention sets forth the present invention.But it will be appreciated that, these embodiments are only exemplary, for spirit of the present invention and protection domain, there is no restriction.
In this manual, " coupling " word should be understood to be included in the situation that directly transmits energy or signal between two unit, perhaps through one or more Unit the 3rd, indirectly transmit the situation of energy or signal, and alleged signal includes but not limited to the signal that the form with electricity, light and magnetic exists here.In addition, " comprise " and the term of " comprising " and so on mean except have in instructions and claims, have directly and the unit and step of clearly statement, technical scheme of the present invention is not got rid of yet and is had not by directly or other unit of clearly explaining and the situation of step.Moreover the term such as " first ", " second ", " the 3rd " and " the 4th " does not mean that unit or numerical value are only to be used as to distinguish each unit or numerical value in the order of the aspects such as time, space, size.
Fig. 1 is the process flow diagram of the automobile navigation method that utilizes magnetic field sensor according to one embodiment of the invention.
Referring to Fig. 1, in step 110, utilize three magnetic field sensors to measure field signal.Here suppose in field signal mainly to comprise geomagnetic field component, other component (field signal that for example vehicle arrangement produces) can be ignored or can be by the indemnifying measure filtering.
Three magnetic field sensors are arranged on vehicle mutual vertically, thereby form a rectangular coordinate system.In the navigator fix application, one of them magnetic field sensor is installed along the direction that is parallel to the longitudinal direction of car axle, and the another one magnetic field sensor is installed along the direction that is parallel to the vehicle transverse axis.Fig. 2 shows the installation site schematic diagram of three magnetic field sensors and two accelerometers.
Consider precision and microminiaturized demand, in an embodiment of the present invention, magnetic field sensor adopts magnetoresistive transducer to realize.But magnetic field sensor also can adopt the device of other form, for example coil.
The measuring error of these three magnetic field sensors at least comes from following several aspect:
1) non-complete quadrature between three magnetic field sensors, thus nonopiate error formed;
2) plane and surface level that two magnetic field sensors installing along the direction that is parallel to longitudinal direction of car axle, lateral shaft form are not parallel, thereby form non-lateral error;
3) the space anisotropy of the sensitivity of magnetic field sensor, thus the scale error formed;
4), due to the material of making magnetic field sensor and the difference of structure, causing output when zero magnetic field is still the zero error of zero.
In order to eliminate or to suppress one or more in above-mentioned error, in step 120, the field signal of measuring is revised.The concrete grammar of relevant correction will be done detailed description below.
Enter subsequently step 130, utilize the acceleration signal of accelerometer measures vehicle.In the present embodiment, adopt the acceleration of two accelerometer measures vehicles in two dimensional surface.Particularly, these two accelerometers are installed with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively, referring to Fig. 2.
Then enter step 140, according to the modified value of field signal and the vertical inclination angle of acceleration signal calculating magnetic azimuth and vehicle.
In the present embodiment, the vertical inclination angle of computer azimuth angle and vehicle according to the following formula:
Figure 925982DEST_PATH_IMAGE024
（1）
Figure 773853DEST_PATH_IMAGE025
（2）
Here, m x, m yand m zbe respectively magnetic field sensor in the direction that is parallel to the longitudinal direction of car axle, be parallel to the direction of lateral direction of car axle and perpendicular to the modified value of the field signal on the direction of longitudinal direction of car axle and lateral shaft, a xand a ybe respectively accelerometer in the direction that is parallel to the longitudinal direction of car axle and be parallel to the acceleration signal on the direction of lateral direction of car axle, g is acceleration of gravity.
Enter subsequently step 150, obtain the displacement increment that vehicle occurs during from previous moment to current time
Figure 823717DEST_PATH_IMAGE026
s.Can utilize the distance measurement sensor to determine displacement increment.
Then, in step 160, the vertical inclination angle I of the magnetic azimuth A calculated according to step 140, vehicle and the displacement increment that step 150 is obtained
Figure 48025DEST_PATH_IMAGE026
s, utilize following formula to determine during vehicle is from previous moment to current time the change in location occurred:
（3）
（4）
Here, x i, y ifor the coordinate of vehicle i the moment, x i-1, y i-1for the coordinate of vehicle i-1 the moment,
Figure 71979DEST_PATH_IMAGE026
s is carved into the displacement increment of vehicle during i the moment, A for from i-1 the time iand I ibe respectively i constantly during the vertical inclination angle of magnetic azimuth and vehicle.For example, when the time interval between two moment enough little (being less than 1 second), can be by A iand I ibe considered as interior magnetic azimuth of this time interval and the vertical inclination angle of vehicle.
Fig. 3 is for determining the schematic diagram of mode according to the change in location of the embodiment of the present invention.As shown in Figure 3, the initial position of vehicle is at (x 0, y 0), according to the i-1 calculated and the magnetic azimuth in i the moment and the vertical inclination angle of vehicle, utilize above formula (3) and (4) can determine the coordinate (x of vehicle in the corresponding moment 1, y 1), (x 2, y 2), thereby draw out the travel path of vehicle on display.
The modification method of the field signal that magnetic field sensor is measured is below described.
According to one embodiment of the present of invention, adopt the transformation matrix A of following form to revise field signal:
Figure 772082DEST_PATH_IMAGE002
（5）
Here,
Figure 953664DEST_PATH_IMAGE003
,
Figure 408916DEST_PATH_IMAGE004
,
Figure 308739DEST_PATH_IMAGE005
x, the Y of the rectangular coordinate system when being respectively one of them magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 563265DEST_PATH_IMAGE004
be 90 0,
Figure 599354DEST_PATH_IMAGE006
,
Figure 163191DEST_PATH_IMAGE007
,
Figure 550310DEST_PATH_IMAGE008
x, the Y of the rectangular coordinate system when being respectively the another one magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 654532DEST_PATH_IMAGE009
,
Figure 810707DEST_PATH_IMAGE010
,
Figure 794712DEST_PATH_IMAGE011
be respectively X, the Y of the rectangular coordinate system when also having a magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis.
Therefore can to measuring-signal, be revised according to following formula:
Figure 403548DEST_PATH_IMAGE029
（6）
Here, B x, B y, B zbe respectively the field signal that three magnetic field sensors are measured, B xt, B yt, B ztbe respectively field signal B x, B y, B zcorrected value.
In order to facilitate determining of parameter in transformation matrix, can be by transformation matrix A 3 * 3be reduced to:
（7）
Definite mode of the parameters in transformation matrix shown in formula (7) is below described.
At first, three magnetic field sensors are placed in to the environment that magnetic fields only or other magnetic-field component are ignored, rotate successively default angle of three magnetic field sensors, when rotated, the mutual locus of three magnetic field sensors remains unchanged.After each rotation, thereby all utilize three magnetic field sensors to measure corresponding field signal, obtain multi-group data.
Then by the optimization solution that solves following Optimized model, determine
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,
Figure 493361DEST_PATH_IMAGE014
,
Figure 589493DEST_PATH_IMAGE015
,
Figure 35518DEST_PATH_IMAGE016
,
Figure 166285DEST_PATH_IMAGE017
:
Figure 305142DEST_PATH_IMAGE031
（8）
Here, i
Figure 574056DEST_PATH_IMAGE019
j, 1
Figure 823772DEST_PATH_IMAGE020
i
Figure 746729DEST_PATH_IMAGE020
n, 1
Figure 56487DEST_PATH_IMAGE020
j
Figure 127211DEST_PATH_IMAGE020
n, n is the number of times of the default angle of rotation, B i xt, B j xtbe respectively the magnetic field sensor i for example, installed along X-direction (hypothesis is the direction that is parallel to the vehicle longitudinal axis) and rotate the field signal recorded after default angle, B j time i yt, B j ytbe respectively the magnetic field sensor i for example, installed along Y direction (hypothesis is the direction that is parallel to the vehicle transverse axis) and rotate the field signal recorded after default angle, B j time i zt, B j ztbe respectively the magnetic field sensor i for example, installed along Z-direction (hypothesis is perpendicular to the direction on the vehicle longitudinal axis and plane, transverse axis place) and rotate the field signal recorded after default angle j time.
Fig. 4 is that it shows the detailed process of asking for optimization solution according to the process flow diagram of the measuring-signal modification method of the magnetic field sensor of one embodiment of the invention.
As shown in Figure 4, in step 410, the preset value of iterations is set, and generates at random N initial population { X 1(0) ... X i(0) ... X n(0) }, X wherein i(0)={ a i j(0) }, 1
Figure 180618DEST_PATH_IMAGE020
i
Figure 207349DEST_PATH_IMAGE020
n, 1
Figure 688009DEST_PATH_IMAGE020
j
Figure 980450DEST_PATH_IMAGE020
5, each a i j(0) correspond respectively to be solved
Figure 837547DEST_PATH_IMAGE013
,
Figure 531834DEST_PATH_IMAGE014
,
Figure 121078DEST_PATH_IMAGE015
,
Figure 166395DEST_PATH_IMAGE016
,
Figure 561604DEST_PATH_IMAGE017
in one.
Then enter step 420, calculate N population { X 1(t) ... X i(t) ... X n(t) each individual X } i(t) objective function F (X i(t)), wherein t is iterations, for initial population, is 0, X i(t)={ a i j(t) }, 1 i
Figure 198439DEST_PATH_IMAGE020
n, 1
Figure 153887DEST_PATH_IMAGE020
j
Figure 87208DEST_PATH_IMAGE020
5, each a i j(t) correspond respectively to be solved ,
Figure 952713DEST_PATH_IMAGE014
,
Figure 441463DEST_PATH_IMAGE015
,
Figure 631005DEST_PATH_IMAGE016
,
Figure 154390DEST_PATH_IMAGE017
in one.The objective function F (X here i(t)) the form of employing formula (8).
Subsequently, in step 430, for value, be X i(t) i is individual, calculates according to the following formula each component a i j(t) evolution value a i ' j(t) to obtain this individual evolutional form X ' i(t):
Figure 318655DEST_PATH_IMAGE032
（9）
Here, be the evolution increment of j component, the random fashion of take generates and span is [1,1].The random evolution increment generated
Figure 100984DEST_PATH_IMAGE022
follow certain probability distribution, in the present embodiment, it follows Gaussian distribution.
Then enter step 440, judge that i individual value is X i(t) whether objective function is greater than its value is evolutional form X ' i(t) objective function, if result is true, enter step 450, by i individual value, is X ' i(t), otherwise, enter step 460, by i individual value, be X i(t).
All enter step 470 after step 450 and 460 completes, judge whether iterations t equals preset value, if judgment result is that very, enter step 480, the individuality of target function value minimum in N population is defined as to optimum solution, otherwise, step 420 returned to.
Fig. 5 is the schematic diagram of the Vehicular navigation system that utilizes magnetic field sensor according to one embodiment of the present of invention.
As shown in Figure 5, utilize the Vehicular navigation system 50 of magnetic field sensor to comprise direction sensing unit 510, distance measurement unit 520, processing unit 530 and display unit 540.
Referring to Fig. 5, direction sensing unit 510 comprises three orthogonal magnetic field sensor 511a, 511b, 511c and two mutually perpendicular accelerometer 512a and 512b.In the present embodiment, wherein two magnetic field sensors are installed with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively, and two accelerometers are also installed with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively.The installation site of three magnetic field sensors and two accelerometers can be referring to Fig. 2.
Distance measurement unit 520 is used for the displacement increment that measuring vehicle occurs during from previous moment to current time.
Processing unit 530 is connected with distance measurement unit 520 with direction sensing unit 510, in fact row function now:
1) calculate the modified value of the field signal of current time.Concrete correcting mode is explained in detail by Fig. 4 in the above, does not repeat herein.
) according to the modified value of field signal and the vertical inclination angle of acceleration signal calculating magnetic azimuth and vehicle.This calculating can utilize for example above formula (1) and (2).
) displacement increment that occurs during from previous moment to current time according to the vertical inclination angle of the magnetic azimuth that calculates, vehicle and vehicle that distance measurement unit 520 provides calculates the change in location of vehicle current time with respect to previous moment.This calculating can utilize for example above formula (3) and (4).
Display unit 540 is connected with processing unit 530, and its change in location of calculating according to processing unit 530 shows the operating path of vehicle.
Due to can be under the spirit that does not deviate from essential characteristic of the present invention, implement the present invention with various forms, therefore present embodiment is illustrative and not restrictive, because scope of the present invention is defined by claims, rather than defined by instructions, therefore fall into the border of claim and all changes in boundary, or the equivalent of this claim border and boundary thereby forgiven by claim.

Claims (10)

1. the bearing calibration of a magnetic field sensor signal, is characterized in that, comprises the following steps:
Obtain the field signal that three orthogonal magnetic field sensors measure;
According to the described field signal of following manner correction:
Figure 28983DEST_PATH_IMAGE001
Figure 82390DEST_PATH_IMAGE002
Here, B x, B y, B zbe respectively the field signal that three described magnetic field sensors are measured, B xt, B yt, B ztbe respectively described field signal B x, B y, B zcorrected value,
Figure 922170DEST_PATH_IMAGE003
,
Figure 966611DEST_PATH_IMAGE004
,
Figure 524632DEST_PATH_IMAGE005
x, the Y of the rectangular coordinate system when being respectively one of them magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 240784DEST_PATH_IMAGE004
be 90 0,
Figure 935070DEST_PATH_IMAGE006
, ,
Figure 631948DEST_PATH_IMAGE008
x, the Y of the rectangular coordinate system when being respectively the another one magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 27157DEST_PATH_IMAGE009
,
Figure 903846DEST_PATH_IMAGE010
,
Figure 726309DEST_PATH_IMAGE011
be respectively X, the Y of the rectangular coordinate system when also having a magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis.
2. bearing calibration as claimed in claim 1, wherein, described magnetic field sensor adopts magnetoresistive transducer to realize.
3. bearing calibration as claimed in claim 1, wherein, determine transformation matrix A by following manner 3 * 3:
By transformation matrix A 3 * 3be reduced to:
Make the default angle of the each rotation of described magnetic field sensor, thereby and measure corresponding field signal and obtain multi-group data;
By the optimization solution that solves following Optimized model, determine
Figure 192242DEST_PATH_IMAGE013
, ,
Figure 415337DEST_PATH_IMAGE015
,
Figure 169666DEST_PATH_IMAGE016
,
Figure 906678DEST_PATH_IMAGE017
:
Figure 430063DEST_PATH_IMAGE018
Here, i
Figure 859908DEST_PATH_IMAGE019
j, 1 i
Figure 438973DEST_PATH_IMAGE020
n, 1
Figure 82444DEST_PATH_IMAGE020
j
Figure 417611DEST_PATH_IMAGE020
n, n is the number of times of the default angle of rotation, B i xt, B j xtbe respectively the field signal recorded after the default angle of described one of them magnetic field sensor i and j rotation, B i yt, B j ytbe respectively the field signal recorded after the default angle of described another one magnetic field sensor i and j rotation, B i zt, B j ztbeing respectively described also has a magnetic field sensor i and rotates the field signal recorded after default angle j time.
4. bearing calibration as claimed in claim 3, wherein, according to the following step, according to described Optimized model, determine described parameter:
(1) for N population { X 1(t) ... X i(t) ... X n(t) }, calculate each individual objective function F (X i(t)), wherein t is iterations, X i(t)={ a i j(t) }, 1
Figure 146532DEST_PATH_IMAGE020
j
Figure 287664DEST_PATH_IMAGE020
5, corresponding to one group
Figure 847958DEST_PATH_IMAGE013
,
Figure 619605DEST_PATH_IMAGE014
,
Figure 570243DEST_PATH_IMAGE015
,
Figure 452749DEST_PATH_IMAGE016
, ;
(2) for value, be X i(t) i is individual, calculates according to the following formula each component a i j(t) evolution value a i ' j(t) to obtain this individual evolutional form X ' i(t):
Here,
Figure 749497DEST_PATH_IMAGE022
be the stochastic evolution increment of j component, span is [1,1];
(3) if i individual value is X i(t) it is evolutional form X that objective function is greater than its value ' i(t) objective function, i individual value is X ' i, otherwise value is X (t) i(t); And
(4) if iterations t reaches preset value, the individuality of target function value minimum in N population is defined as to optimum solution, otherwise, return to step (2).
5. bearing calibration as claimed in claim 4, wherein, described stochastic evolution increment
Figure 170114DEST_PATH_IMAGE022
follow Gaussian distribution.
6. a Vehicular navigation system that utilizes magnetic field sensor, is characterized in that, comprises:
The direction sensing unit comprises:
Three orthogonal magnetic field sensors, wherein two described magnetic field sensors are installed with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively;
Two mutually perpendicular accelerometers, install with the direction that is parallel to the vehicle transverse axis along being parallel to the longitudinal direction of car axle respectively;
The distance measurement unit, the displacement increment that its measuring vehicle occurs during from previous moment to current time;
The processing unit be connected with the distance measurement unit with described direction sensing unit, it calculates the modified value of the field signal of current time, calculate the vertical inclination angle of magnetic azimuth and vehicle according to the modified value of described field signal and acceleration signal, and the displacement increment occurred during from previous moment to current time according to the vertical inclination angle of described magnetic azimuth, vehicle and vehicle calculates the change in location of described vehicle current time with respect to previous moment;
With the display unit that described processing unit is connected, it shows the operating path of vehicle,
Wherein, described processing unit calculates the modified value of described field signal according to following manner:
Figure 642684DEST_PATH_IMAGE023
Figure 756133DEST_PATH_IMAGE024
Here, B x, B y, B zbe respectively the field signal that three described magnetic field sensors are measured, B xt, B yt, B ztbe respectively described field signal B x, B y, B zcorrected value,
Figure 743681DEST_PATH_IMAGE003
, ,
Figure 29486DEST_PATH_IMAGE005
x, the Y of the rectangular coordinate system when being respectively one of them magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 313837DEST_PATH_IMAGE004
be 90 0,
Figure 788680DEST_PATH_IMAGE006
,
Figure 816679DEST_PATH_IMAGE007
,
Figure 998262DEST_PATH_IMAGE008
x, the Y of the rectangular coordinate system when being respectively the another one magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis,
Figure 187935DEST_PATH_IMAGE009
,
Figure 87758DEST_PATH_IMAGE010
,
Figure 716185DEST_PATH_IMAGE011
be respectively X, the Y of the rectangular coordinate system when also having a magnetic field sensor and not having quadrature error and lateral error and the angle of Z axis.
7. Vehicular navigation system as claimed in claim 6, wherein, described processing unit is determined transformation matrix A by following manner 3 * 3:
By transformation matrix A 3 * 3be reduced to:
Figure 17853DEST_PATH_IMAGE025
Make the default angle of the each rotation of described magnetic field sensor, thereby and measure corresponding field signal and obtain multi-group data;
By the optimization solution that solves following Optimized model, determine
Figure 378428DEST_PATH_IMAGE013
,
Figure 765547DEST_PATH_IMAGE014
,
Figure 135348DEST_PATH_IMAGE015
,
Figure 586796DEST_PATH_IMAGE016
,
Figure 383850DEST_PATH_IMAGE017
:
Figure 992686DEST_PATH_IMAGE018
Here, i
Figure 166179DEST_PATH_IMAGE019
j, 1 i
Figure 207133DEST_PATH_IMAGE020
n, 1
Figure 303265DEST_PATH_IMAGE020
j
Figure 14869DEST_PATH_IMAGE020
n, n is the number of times of the default angle of rotation, B i xt, B j xtbe respectively the field signal recorded after the default angle of described one of them magnetic field sensor i and j rotation, B i yt, B j ytbe respectively the field signal recorded after the default angle of described another one magnetic field sensor i and j rotation, B i zt, B j ztbeing respectively described also has a magnetic field sensor i and rotates the field signal recorded after default angle j time.
8. Vehicular navigation system as claimed in claim 7, wherein, described processing unit, according to the following step, is determined described parameter according to described Optimized model:
(1) for N population { X 1(t) ... X i(t) ... X n(t) }, calculate each individual objective function F (X i(t)), wherein t is iterations, X i(t)={ a i j(t) }, 1
Figure 880057DEST_PATH_IMAGE020
j
Figure 18914DEST_PATH_IMAGE020
5, corresponding to one group
Figure 664659DEST_PATH_IMAGE013
,
Figure 914375DEST_PATH_IMAGE014
, , ,
Figure 280131DEST_PATH_IMAGE017
;
(2) for value, be X i(t) i is individual, calculates according to the following formula each component a i j(t) evolution value a i ' j(t) to obtain this individual evolutional form X ' i(t):
Figure 395855DEST_PATH_IMAGE026
Here,
Figure 235635DEST_PATH_IMAGE022
be the stochastic evolution increment of j component, span is [1,1];
(3) if i individual value is X i(t) it is evolutional form X that objective function is greater than its value ' i(t) objective function, i individual value is X ' i, otherwise value is X (t) i(t); And
(4) if iterations t reaches preset value, the individuality of target function value minimum in N population is defined as to optimum solution, otherwise, return to step (2).
9. Vehicular navigation system as claimed in claim 8, wherein, described stochastic evolution increment
Figure 716295DEST_PATH_IMAGE022
follow Gaussian distribution.
10. Vehicular navigation system as claimed in claim 1, wherein, described magnetic field sensor adopts magnetoresistive transducer to realize.
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