CN103454607B - The bearing calibration of magnetic field sensor signal and the Vehicular navigation system based on the method - Google Patents

Abstract

<b> the present invention relates to automobile navigation technology, particularly the bearing calibration of magnetic field sensor signal and the Vehicular navigation system based on this bearing calibration.According to embodiments of the invention, utilize the sensor of vehicle to obtain owing to locating required signal, therefore break away from the dependence to </b><bGreatT.Gre aT.GTGPS</b><bGr eatT.GreaT.GT system, reduce use and equipment cost.In addition, the measuring error can eliminating magnetic field sensor according to the modification method of the embodiment of the present invention is well adopted, because herein is provided high-precision location survey.</b>

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 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 at present relatively more conventional locating device, and it receives gps signal and according to Received signal strength determination receiving side signal dimension on earth and longitude, user can know its information such as current location and driving route thus.But GPS navigation equipment also has obvious shortcoming.Such as, its location must depend on gps system, once provide the satellite of navigation signal to break down, will cause systemic breakdown.Moreover, GPS navigation equipment purchase with use cost all costly, constrain it and further use popularization.

Summary of the invention

An object of the present invention is to provide a kind of bearing calibration of magnetic field sensor signal, precision is high, cost is low advantage that it has.

Above-mentioned purpose can be realized by following technical proposal:

A bearing calibration for magnetic field sensor signal, comprises the following steps:

Obtain the field signal that three orthogonal magnetic field sensor measurements obtain;

According to field signal described in following manner correction:

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, , , x, Y of rectangular coordinate system when being respectively one of them magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, be 90 ⁰, , , x, Y of rectangular coordinate system when being respectively another one magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, , , be respectively X, the Y of rectangular coordinate system when also having a magnetic field sensor and there is not 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 determination transformation matrix A _{3 × 3}:

By transformation matrix A _{3 × 3}be reduced to:

Make described magnetic field sensor rotate default angle at every turn, and measure corresponding field signal thus obtain multi-group data;

Determined by the optimization solution solving following Optimized model , , , , :

Here, i j, 1 i n, 1 j n, n are the number of times rotating the angle preset, B ⁱ _xt, B ^j _xtthe field signal being respectively one of them magnetic field sensor i-th described and recording after rotating the angle preset j time, B ⁱ _yt, B ^j _ytthe field signal being respectively described another one magnetic field sensor i-th and recording after rotating the angle preset j time, B ⁱ _zt, B ^j _ztbe respectively the described field signal also having a magnetic field sensor i-th and record after rotating the angle preset j time.

Preferably, in above-mentioned bearing calibration, according to the following step, determine described parameter according to described Optimized model:

(1) for N number of population { X ₁(t) ... X _i(t) ... X _n(t) }, calculate the objective function F (X of each individuality _i(t)), wherein t is iterations, X _i(t)={ a ⁱ _j(t) }, 1 j 5, corresponding to one group , , , , ;

(2) be X for value _it i-th individuality of (), calculates each component a according to the following formula ⁱ _jthe evolution value a of (t) ^{i '} _jt () is to obtain the evolutional form X of this individuality ^' _i(t):

Here, for the stochastic evolution increment of a jth component, span is [-1,1];

(3) if i-th individual value is X _it the objective function of () is greater than its value is evolutional form X ^' _it the objective function of (), then i-th individual value is X ^' _i(t), otherwise value is X _i(t); And

(4) if iterations t reaches preset value, then individuality minimum for target function value in N number of population is defined as optimum solution, otherwise, return step (2).

Preferably, in above-mentioned bearing calibration, described stochastic evolution increment follow Gaussian distribution.

Of the present invention also have an object to be to provide a kind of Vehicular navigation system utilizing magnetic field sensor, precision is high, cost is low advantage that it has.

Above-mentioned purpose can be realized by following technical proposal:

Utilize a Vehicular navigation system for magnetic field sensor, comprise:

Direction sensing unit, comprises:

Three orthogonal magnetic field sensors, wherein two described magnetic field sensors are installed along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively;

Two mutually perpendicular accelerometers, install along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively;

Distance measurement unit, its measuring vehicle from previous moment to current time during the displacement increment that occurs;

The processing unit be connected with 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 according to the vertical inclination angle of described magnetic azimuth, vehicle and vehicle from previous moment to current time during the displacement increment that occurs calculate the change in location of described vehicle current time relative to previous moment;

The display unit be connected with described processing unit, the operating path of its display vehicle,

Wherein, described processing unit calculates the modified value of described field signal according to following manner:

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, , , x, Y of rectangular coordinate system when being respectively one of them magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, be 90 ⁰, , , x, Y of rectangular coordinate system when being respectively another one magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, , , be respectively X, the Y of rectangular coordinate system when also having a magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis.

According to embodiments of the invention, be utilize the sensor of vehicle to obtain owing to locating required signal, therefore broken away from the dependence to gps system, reduce use and equipment cost.In addition, the measuring error can eliminating magnetic field sensor according to the modification method of the embodiment of the present invention is well adopted, because herein is provided high-precision location survey.

From following detailed description by reference to the accompanying drawings, above and other objects of the present invention and advantage will be made more completely clear.

Accompanying drawing explanation

Fig. 1 is the process flow diagram utilizing the automobile navigation method of magnetic field sensor according to one embodiment of the invention.

Fig. 2 shows the installation site schematic diagram of three magnetic field sensors according to one embodiment of the invention and two accelerometers.

Fig. 3 be according to the embodiment of the present invention really allocation change schematic diagram.

Fig. 4 is the process flow diagram of the measuring-signal modification method of magnetic field sensor according to one embodiment of the invention.

Fig. 5 is the schematic diagram utilizing the Vehicular navigation system of magnetic field sensor according to one embodiment of the present of invention.

Embodiment

Below by the specific embodiment of the present invention being described with reference to the drawings to set forth the present invention.But it is to be appreciated that these embodiments are only exemplary, restriction be there is no for spirit of the present invention and protection domain.

In this manual, " coupling " one word to should be understood to be included between two unit the situation directly transmitting energy or signal, or indirectly transmit the situation of energy or signal through one or more Unit the 3rd, and alleged signal includes but not limited to the signal of the form of electricity, light and magnetic existence here.In addition, " comprise " and the term of " comprising " and so on represents except having the unit and step that have in the specification and in the claims directly and clearly state, technical scheme of the present invention does not get rid of the situation had not by other unit of directly or clearly stating and step yet.Moreover the term of such as " first ", " second ", " the 3rd " and " the 4th " and so on does not represent order in time, space, size etc. of unit or numerical value and is only be used as to distinguish each unit or numerical value.

Fig. 1 is the process flow diagram utilizing the automobile navigation method of magnetic field sensor according to one embodiment of the invention.

See Fig. 1, in step 110, three magnetic field sensors are utilized to measure field signal.Here suppose mainly to comprise geomagnetic field component in field signal, other component (field signal that such as vehicle arrangement produces) is negligible or can pass through indemnifying measure filtering.

Three magnetic field sensors are arranged on vehicle mutual vertically, thus form a rectangular coordinate system.In navigator fix application, one of them magnetic field sensor is installed along the direction being parallel to longitudinal direction of car axle, and another one magnetic field sensor is installed along the direction being parallel to 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.Such as, but magnetic field sensor also can adopt the device of other form, coil.

The measuring error of these three magnetic field sensors at least comes from following several aspect:

1) between three magnetic field sensors, non-fully is orthogonal, thus forms non-orthogonal errors;

2) plane formed along two magnetic field sensors being parallel to longitudinal direction of car axle, the direction of lateral shaft is installed is not parallel with surface level, thus formation non-horizontal error;

3) space anisotropic of the sensitivity of magnetic field sensor, thus form Calibration errors;

4) owing to making the difference of the materials and structures of magnetic field sensor, the output when zero magnetic field is caused still to be the error of zero of zero.

In order to eliminate or suppress in above-mentioned error one or more, in step 120, the field signal measured is revised.About the concrete grammar revised will do detailed description below.

Enter step 130 subsequently, utilize the acceleration signal of accelerometer measures vehicle.In the present embodiment, the acceleration of two accelerometer measures vehicles in two dimensional surface is adopted.Particularly, these two accelerometers are installed, see Fig. 2 along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively.

Then step 140 is entered, 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:

（1）

（2）

Here, m _x, m _yand m _zbe respectively magnetic field sensor be parallel to longitudinal direction of car axle direction, be parallel to the direction of lateral direction of car axle and the modified value perpendicular to the field signal on the direction of longitudinal direction of car axle and lateral shaft, a _xand a _ybe respectively accelerometer at the direction being parallel to longitudinal direction of car axle and the acceleration signal be parallel on the direction of lateral direction of car axle, g is acceleration of gravity.

Enter step 150 subsequently, obtain vehicle from previous moment to current time during the displacement increment that occurs s.Distance measurement sensor can be utilized to determine displacement increment.

Then, in step 160, according to magnetic azimuth A, the vertical inclination angle I of vehicle and the displacement increment of step 150 acquisition that step 140 calculates s, the change in location occurred during utilizing following formula determination vehicle from previous moment to current time:

（3）

（4）

Here, x _i, y _ifor vehicle is at the coordinate in i-th moment, x _i-1, y _i-1for vehicle is at the coordinate in the i-th-1 moment, s is the displacement increment from vehicle during the i-th-1 moment to i-th moment, A _iand I _ithe vertical inclination angle of magnetic azimuth and vehicle during being respectively i-th moment.During the time interval between two moment enough little (being such as less than 1 second), can by A _iand I _ibe considered as the vertical inclination angle of magnetic azimuth in this time interval and vehicle.

Fig. 3 is the schematic diagram of the change in location determination mode according to the embodiment of the present invention.As shown in Figure 3, the initial position of vehicle is at (x ₀, y ₀), according to calculate i-th-1 and the magnetic azimuth in i-th moment and the vertical inclination angle of vehicle, utilize above formula (3) and (4) that the coordinate (x of vehicle in the corresponding moment can be determined ₁, y ₁), (x ₂, y ₂), thus draw out the travel path of vehicle over the display.

Modification method to the field signal that magnetic field sensor is measured below is described.

According to one embodiment of the present of invention, the transformation matrix A of following form is adopted to revise field signal:

（5）

Here, , , x, Y of rectangular coordinate system when being respectively one of them magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, be 90 ⁰, , , x, Y of rectangular coordinate system when being respectively another one magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, , , be respectively X, the Y of rectangular coordinate system when also having a magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis.

Therefore can revise measuring-signal according to following formula:

（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.

The conveniently determination of parameter in transformation matrix, can by transformation matrix A _{3 × 3}be reduced to:

（7）

The determination mode of the parameters in transformation matrix shown in formula (7) is below described.

First, three magnetic field sensors are placed in the environment that magnetic fields or other magnetic-field component are only ignored, rotate the default angle of three magnetic field sensors one successively, when rotated, the mutual locus of three magnetic field sensors remains unchanged.After each rotation, three magnetic field sensors are all utilized to measure corresponding field signal thus obtain multi-group data.

Then the optimization solution by solving following Optimized model is determined , , , , :

（8）

Here, i j, 1 i n, 1 j n, n are the number of times rotating the angle preset, B ⁱ _xt, B ^j _xtbe respectively the magnetic field sensor i-th installed along X-direction (such as hypothesis is the direction being parallel to the vehicle longitudinal axis) and the field signal recorded after rotating the angle preset j time, B ⁱ _yt, B ^j _ytbe respectively the magnetic field sensor i-th installed along Y direction (such as hypothesis is the direction being parallel to vehicle transverse axis) and the field signal recorded after rotating the angle preset j time, B ⁱ _zt, B ^j _ztbe respectively the magnetic field sensor i-th installed along Z-direction (such as hypothesis is perpendicular to the direction of the vehicle longitudinal axis and transverse axis place plane) and the field signal recorded after rotating the angle preset j time.

Fig. 4 is the process flow diagram of the measuring-signal modification method of magnetic field sensor according to one embodiment of the invention, it illustrates the detailed process asking for optimization solution.

As shown in Figure 4, in step 410, the preset value of iterations is set, and the N number of initial population { X of stochastic generation ₁(0) ... X _i(0) ... X _n(0) }, wherein X _i(0)={ a ⁱ _j(0) }, 1 i n, 1 j 5, each a ⁱ _j(0) correspond respectively to be solved , , , , in one.

Then enter step 420, calculate N number of population { X ₁(t) ... X _i(t) ... X _n(t) } in each individual X _iobjective function F (the X of (t) _i(t)), wherein t is iterations, is 0, X for initial population _i(t)={ a ⁱ _j(t) }, 1 i n, 1 j 5, each a ⁱ _jt () corresponds respectively to be solved , , , , in one.Here objective function F (X _i(t)) adopt formula (8) form.

Subsequently, in step 430, be X for value _it i-th individuality of (), calculates each component a according to the following formula ⁱ _jthe evolution value a of (t) ^{i '} _jt () is to obtain the evolutional form X of this individuality ^' _i(t):

（9）

Here, for the evolution increment of a jth component, in a random basis generate and span is [-1,1].The evolution increment of stochastic generation follow certain probability distribution, in the present embodiment, it follows Gaussian distribution.

Then enter step 440, judge that i-th individual value is X _iwhether the objective function of (t) is greater than its value is evolutional form X ^' _it the objective function of (), if result is true, then enters step 450, be X by i-th individual value ^' _i(t), otherwise then entering step 460, is X by i-th individual value _i(t).

All enter step 470 after step 450 and 460 completes, judge whether iterations t equals preset value, if judged result is true, then enter step 480, individuality minimum for target function value in N number of population is defined as optimum solution, otherwise, then return step 420.

Fig. 5 is the schematic diagram utilizing the Vehicular navigation system of magnetic field sensor according to one embodiment of the present of invention.

As shown in Figure 5, the Vehicular navigation system 50 of magnetic field sensor is utilized to comprise direction sensing unit 510, distance measurement unit 520, processing unit 530 and display unit 540.

See 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 along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively, and two accelerometers are also installed along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively.The installation site of three magnetic field sensors and two accelerometers can see Fig. 2.

Distance measurement unit 520 be used for measuring vehicle from previous moment to current time during the displacement increment that occurs.

Processing unit 530 is connected with distance measurement unit 520 with direction sensing unit 510, in fact now row function:

1) modified value of the field signal of current time is calculated.Concrete correcting mode is explained in detail by Fig. 4 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 such as above formula (1) and (2).

) vehicle that provides according to the magnetic azimuth calculated, the vertical inclination angle of vehicle and distance measurement unit 520 from previous moment to current time during the displacement increment that occurs calculate the change in location of vehicle current time relative to previous moment.This calculating can utilize such as above formula (3) and (4).

Display unit 540 is connected with processing unit 530, the operating path of its change in location display vehicle calculated according to processing unit 530.

Due to can under the spirit not deviating from essential characteristic of the present invention, implement the present invention in a variety of manners, therefore present embodiment is illustrative and not restrictive, because scope of the present invention is defined by claims, instead of defined by instructions, therefore fall into all changes in the border of claim and boundary, or thus the equivalent of this claim border and boundary is forgiven by claim.

Claims (10)

1. a bearing calibration for magnetic field sensor signal, is characterized in that, comprises the following steps:

Obtain the field signal that three orthogonal magnetic field sensor measurements obtain;

According to field signal described in following manner correction:

$\left[\begin{array}{c}{B}_{xt}\\ B_{yt}\\ B_{zt}\end{array}\right]=A_{3\&times;3}^{-1}\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

$A_{3\&times;3}=\left[\begin{array}{ccc}{\mathrm{cos\&alpha;}}_1& {\mathrm{cos\&alpha;}}_2& {\mathrm{cos\&alpha;}}_3\\ {\mathrm{cos\&beta;}}_1& {\mathrm{cos\&beta;}}_2& {\mathrm{cos\&beta;}}_3\\ {\mathrm{cos\&gamma;}}_1& {\mathrm{cos\&gamma;}}_2& {\mathrm{cos\&gamma;}}_3\end{array}\right]$

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, α ₁, α ₂, α ₃x, Y of rectangular coordinate system when being respectively one of them magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, α ₂be 90 °, β ₁, β ₂, β ₃x, Y of rectangular coordinate system when being respectively another one magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, γ ₁, γ ₂, γ ₃be respectively X, the Y of rectangular coordinate system when also having a magnetic field sensor and there is not 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, by following manner determination transformation matrix A _{3 × 3}:

By transformation matrix A _{3 × 3}be reduced to:

$A_{3\&times;3}=\left[\begin{array}{ccc}\sqrt{1-{\cos }^2{\mathrm{\&alpha;}}_3}& 0& {\mathrm{cos\&alpha;}}_3\\ {\mathrm{cos\&beta;}}_1& \sqrt{1-{\cos }^2{\mathrm{\&beta;}}_1-{\cos }^2{\mathrm{\&beta;}}_3}& {\mathrm{cos\&beta;}}_3\\ {\mathrm{cos\&gamma;}}_1& {\mathrm{cos\&gamma;}}_2& \sqrt{1-{\cos }^2{\mathrm{\&gamma;}}_1-{\cos }^2{\mathrm{\&gamma;}}_2}\end{array}\right]$

Make described magnetic field sensor rotate default angle at every turn, and measure corresponding field signal thus obtain multi-group data;

Cos α is determined by the optimization solution solving following Optimized model ₃, cos β ₁, cos β ₃, cos γ ₁, cos γ ₂:

$\min F({\mathrm{cos\&alpha;}}_3,{\mathrm{cos\&beta;}}_1,{\mathrm{cos\&beta;}}_3,{\mathrm{cos\&gamma;}}_1,{\mathrm{cos\&gamma;}}_3)=\min \left|\sqrt{{\left(B_{xt}^i\right)}^2+{\left(B_{yt}^i\right)}^2+{\left(B_{zt}^i\right)}^2}-\sqrt{{\left(B_{xt}^j\right)}^2+{\left(B_{yt}^j\right)}^2+{\left(B_{zt}^j\right)}^2}\right|$

Here, i ≠ j, 1≤i≤n, 1≤j≤n, n is the number of times rotating the angle preset, B ⁱ _xt, B ^j _xtthe field signal being respectively one of them magnetic field sensor i-th described and recording after rotating the angle preset j time, B ⁱ _yt, B ^j _ytthe field signal being respectively described another one magnetic field sensor i-th and recording after rotating the angle preset j time, B ⁱ _zt, B ^j _ztbe respectively the described field signal also having a magnetic field sensor i-th and record after rotating the angle preset j time.

4. bearing calibration as claimed in claim 3, wherein, determine the optimization solution of described Optimized model according to the following step:

(1) for N number of population { X ₁(t) ... X _i(t) ... X _n(t) }, calculate the objective function F (X of each individuality _i(t)), wherein t is iterations, X _i(t)={ a ⁱ _j(t) }, 1≤j≤5, corresponding to one group of cos α ₃, cos β ₁, cos β ₃, cos γ ₁, cos γ ₂; (2) be X for value _it i-th individuality of (), calculates each component a according to the following formula ⁱ _jthe evolution value a of (t) ^{i '} _jt () is to obtain the evolutional form X ' of this individuality _i(t):

${\mathrm{\&alpha;}}_j^i\left(t\right)={\mathrm{\&alpha;}}_j^j\left(t\right)+{\mathrm{\&delta;}}_j$

Here, δ _jfor the stochastic evolution increment of a jth component, span is [-1,1];

(3) if i-th individual value is X _it the objective function of () is greater than its value is evolutional form X ' _it the objective function of (), then i-th individual value is X ' _i(t), otherwise value is X _i(t); And

(4) if iterations t reaches preset value, then individuality minimum for target function value in N number of population is defined as optimum solution, otherwise, return step (2).

5. bearing calibration as claimed in claim 4, wherein, described stochastic evolution increment δ _jfollow Gaussian distribution.

6. utilize a Vehicular navigation system for magnetic field sensor, it is characterized in that, comprise:

Direction sensing unit, comprises:

Three orthogonal magnetic field sensors, wherein two described magnetic field sensors are installed along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively;

Two mutually perpendicular accelerometers, install along being parallel to longitudinal direction of car axle with the direction being parallel to vehicle transverse axis respectively;

Distance measurement unit, its measuring vehicle from previous moment to current time during the displacement increment that occurs;

The processing unit be connected with 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 according to the vertical inclination angle of described magnetic azimuth, vehicle and vehicle from previous moment to current time during the displacement increment that occurs calculate the change in location of described vehicle current time relative to previous moment;

The display unit be connected with described processing unit, the operating path of its display vehicle,

Wherein, described processing unit calculates the modified value of described field signal according to following manner:

$\left[\begin{array}{c}{B}_{xt}\\ B_{yt}\\ B_{zt}\end{array}\right]=A_{3\&times;3}^{-1}\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]$

$A_{3\&times;3}=\left[\begin{array}{ccc}{\mathrm{cos\&alpha;}}_1& {\mathrm{cos\&alpha;}}_2& {\mathrm{cos\&alpha;}}_3\\ {\mathrm{cos\&beta;}}_1& {\mathrm{cos\&beta;}}_2& {\mathrm{cos\&beta;}}_3\\ {\mathrm{cos\&gamma;}}_1& {\mathrm{cos\&gamma;}}_2& {\mathrm{cos\&gamma;}}_3\end{array}\right]$

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, α ₁, α ₂, α ₃x, Y of rectangular coordinate system when being respectively one of them magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, α ₂be 90 °, β ₁, β ₂, β ₃x, Y of rectangular coordinate system when being respectively another one magnetic field sensor and there is not quadrature error and lateral error and the angle of Z axis, γ ₁, γ ₂, γ ₃be respectively X, the Y of rectangular coordinate system when also having a magnetic field sensor and there is not 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 by following manner determination transformation matrix A _{3 × 3}:

By transformation matrix A _{3 × 3}be reduced to:

$A_{3\&times;3}=\left[\begin{array}{ccc}\sqrt{1-{\cos }^2{\mathrm{\&alpha;}}_3}& 0& {\mathrm{cos\&alpha;}}_3\\ {\mathrm{cos\&beta;}}_1& \sqrt{1-{\cos }^2{\mathrm{\&beta;}}_1-{\cos }^2{\mathrm{\&beta;}}_3}& {\mathrm{cos\&beta;}}_3\\ {\mathrm{cos\&gamma;}}_1& {\mathrm{cos\&gamma;}}_2& \sqrt{1-{\cos }^2{\mathrm{\&gamma;}}_1-{\cos }^2{\mathrm{\&gamma;}}_2}\end{array}\right]$

Make described magnetic field sensor rotate default angle at every turn, and measure corresponding field signal thus obtain multi-group data;

Cos α is determined by the optimization solution solving following Optimized model ₃, cos β ₁, cos β ₃, cos β ₁, cos γ ₂:

$\min F({\mathrm{cos\&alpha;}}_3,{\mathrm{cos\&beta;}}_1,{\mathrm{cos\&beta;}}_3,{\mathrm{cos\&gamma;}}_1,{\mathrm{cos\&gamma;}}_3)=\min \left|\sqrt{{\left(B_{xt}^i\right)}^2+{\left(B_{yt}^i\right)}^2+{\left(B_{zt}^i\right)}^2}-\sqrt{{\left(B_{xt}^j\right)}^2+{\left(B_{yt}^j\right)}^2+{\left(B_{zt}^j\right)}^2}\right|$

Here, i ≠ j, 1≤i≤n, 1≤j≤n, n is the number of times rotating the angle preset, B ⁱ _xt, B ^j _xtthe field signal being respectively one of them magnetic field sensor i-th described and recording after rotating the angle preset j time, B ⁱ _yt, B ^j _ytthe field signal being respectively described another one magnetic field sensor i-th and recording after rotating the angle preset j time, B ⁱ _zt, B ^j _ztbe respectively the described field signal also having a magnetic field sensor i-th and record after rotating the angle preset j time.

8. Vehicular navigation system as claimed in claim 7, wherein, described processing unit determines the optimization solution of described Optimized model according to the following step:

(1) for N number of population { X ₁(t) ... X _i(t) ... X _n(t) }, calculate the objective function F (X of each individuality _i(t)), wherein t is iterations, X _i(t)={ a ⁱ _j(t) }, 1≤j≤5, corresponding to one group of cos α ₃, cos β ₁, cos β ₃, cos γ 1, cos γ ₂;

(2) be X for value _it i-th individuality of (), calculates each component a according to the following formula ⁱ _jthe evolution value a of (t) ^{i '} _jt () is to obtain the evolutional form X ' of this individuality _i(t):

${\mathrm{\&alpha;}}_j^i\left(t\right)={\mathrm{\&alpha;}}_j^j\left(t\right)+{\mathrm{\&delta;}}_j$

Here, δ _jfor the stochastic evolution increment of a jth component, span is [-1,1];

(3) if i-th individual value is X _it the objective function of () is greater than its value is evolutional form X ' _it the objective function of (), then i-th individual value is X ' _i(t), otherwise value is X _i(t); And

(4) if iterations t reaches preset value, then individuality minimum for target function value in N number of population is defined as optimum solution, otherwise, return step (2).

9. Vehicular navigation system as claimed in claim 8, wherein, described stochastic evolution increment δ _jfollow Gaussian distribution.

10. Vehicular navigation system as claimed in claim 6, wherein, described magnetic field sensor adopts magnetoresistive transducer to realize.