CN106525079B - A kind of calibrating three-axle magnetic sensor method and device - Google Patents
A kind of calibrating three-axle magnetic sensor method and device Download PDFInfo
- Publication number
- CN106525079B CN106525079B CN201611076081.9A CN201611076081A CN106525079B CN 106525079 B CN106525079 B CN 106525079B CN 201611076081 A CN201611076081 A CN 201611076081A CN 106525079 B CN106525079 B CN 106525079B
- Authority
- CN
- China
- Prior art keywords
- magnetic sensor
- calibration
- symbol
- measurement data
- group
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The present invention provides a kind of calibrating three-axle magnetic sensor method and device, convenient for that can eliminate symbol error existing for non-aligned error matrix in outdoor carry out calibration experiment, and without relying on other aiding sensors.The described method includes: the measurement data of magnetic sensor coordinate system calibration result according to the pre-stored data and the magnetic sensor under first group of calibration point of acquisition, demarcates initial non-aligned error matrixThe magnetic sensor coordinate system calibration result according to the pre-stored data and the initial non-aligned error matrix of calibrationThe measurement data of magnetic sensor under first group of calibration point of acquisition is corrected, the measurement data of this correction front and back is expressed as hsWithCompare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then willRespective components take negative symbol of completing to correct.The present invention is suitable for calibrating three-axle magnetic sensor field.
Description
Technical field
The present invention relates to magnetic sensor technical field, a kind of calibrating three-axle magnetic sensor method and dress are particularly related to
It sets.
Background technique
Magnetic sensor is the core equipment of earth magnetism Course Measure System, and in actual use, magnetic sensor is deposited
In zero offset error, sensitivity error, non-orthogonal errors, non-aligned error, Hard Magnetic interference and soft magnetism mushing error.To guarantee course
The precision of measurement need to carry out the calibration of error parameter to magnetic sensor.To avoid indoor equipment and construction material to environment
The interference in magnetic field often need to use existing calibrating three-axle magnetic sensor equipment in outdoor carry out calibrating three-axle magnetic sensor experiment
The shortcomings that carrying out outdoor calibration experiment is: not Portable belt, and need to find outdoor power is existing calibrating three-axle magnetic sensor equipment
Power supply.
The calibration of magnetic sensor error parameter can be divided into the calibration of magnetic sensor coordinate system and non-aligned calibration；For
Non-aligned calibration can project constant characteristic, on the rotating shaft based on stationary magnetic field during fixed-axis rotation with carrier coordinate
Axis is that rotation axis carries out fixed-axis rotation, and carries out principal component analysis to the measurement data of magnetic sensor in rotation process with true
Fixed non-aligned error matrix still will lead to by non-ideal fixed-axis rotation, measurement noise and numerical value calculating in actual operation
There are symbol errors for calibration result.
The error of introducing will be unsatisfactory for orthogonality relation between each component for making calibration result, i.e. calibration result is nonopiate square
Battle array, this will introduce new error in magnetic sensor correction course.
Calibration result the shortcomings that there are symbol error and nonopiate problems, providing one kind can independently carry out and have symbol
The non-aligned scaling method of amendment and nonopiate debugging functions.
Summary of the invention
It is existing to solve the technical problem to be solved in the present invention is to provide a kind of calibrating three-axle magnetic sensor method and device
There are symbol error and calibration facilities Portable belt and not to need outdoor power asking for its power supply for calibration result present in technology
Topic.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of calibrating three-axle magnetic sensor method, comprising:
Obtain the measurement data of magnetic sensor under first group of calibration point；
Under magnetic sensor coordinate system calibration result according to the pre-stored data and first group of calibration point of acquisition
The measurement data of magnetic sensor demarcates initial non-aligned error matrix
The magnetic sensor coordinate system calibration result according to the pre-stored data and the initial non-aligned mistake of calibration
Poor matrixThe measurement data of magnetic sensor under first group of calibration point of acquisition is corrected, before this is corrected
Measurement data afterwards is expressed as hsWith
Compare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then willRespective components take
It is negative to complete symbol amendment.
Further, a specific heeling condition and the corresponding calibration point of course angle.
Further, described the first of the magnetic sensor coordinate system calibration result according to the pre-stored data and acquisition
The measurement data of magnetic sensor under group calibration point demarcates initial non-aligned error matrixInclude:
Magnetic sensor coordinate system calibration result according to the pre-stored data corrects three axis under first group of calibration point
The measurement data of Magnetic Sensor, and initial non-aligned error matrix is demarcated using Principal Component AnalysisWherein,It indicatesComponent.
Further, the magnetic sensor coordinate system calibration result according to the pre-stored data corrects first group of mark
The measurement data of magnetic sensor under fixed point, and initial non-aligned error matrix is demarcated using Principal Component AnalysisPacket
It includes:
It is rightComponentWhen being demarcated, the magnetic sensor is rotated around carrier x-axis, obtains first group of calibration
N measurement data of the magnetic sensor under point
Magnetic sensor coordinate system calibration result according to the pre-stored data is to three axis magnetic under first group of calibration point
N measurement data of sensorIt is corrected to obtain correction data
Data after average value processing obtains mean value are carried out to correction data
Calculate covariance matrixAnd diagonalization, obtain C=Pdiag (λ1,λ2,λ3)
PT, P=[P1,P2,P3], λ1>λ2>λ3, then
Wherein, λ1,λ2,λ3It is the characteristic value of the covariance matrix after diagonalization, P=[P1,P2,P3] it is association after diagonalization
The feature vector of variance matrix, diag () indicate that diagonal matrix, T indicate transposition；
ComponentCalibration process withIt is identical, calibrationWhen, the magnetic sensor is rotating around load
Body y-axis and z-axis rotate, data handling procedure withIt is identical,Value be equal to respective calibration process P3。
Further, describedWherein,It indicatesMean value.
Further, the comparison hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then
It willAfter respective components take negative completion symbol amendment, the method also includes:
Using variance contribution ratio as index, evaluationEach componentCalibration effect, wherein side
Poor contribution rate is low to show that calibration effect is good；
The component of calibration effect difference is recalculated using the good component of calibration effect by multiplication cross operation, wherein the fork
The sequence of multiplication is determined by the right-hand rule.
Further, point for recalculating calibration effect difference using the good component of calibration effect by multiplication cross operation
Amount, wherein the sequence of the multiplication cross operation includes: by right-hand rule determination
If αz<αx<αy, then revised to symbol according to orthogonal correction expression formulaOrthogonal correction is carried out, after orthogonal correction
'sIt is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyComponentVariance contribution ratio.
The advantageous effects of the above technical solutions of the present invention are as follows:
In above scheme, pass through described first group of pre-stored magnetic sensor coordinate system calibration result and acquisition
The measurement data of magnetic sensor under calibration point demarcates initial non-aligned error matrixIt is according to the pre-stored data described
Magnetic sensor coordinate system calibration result and the initial non-aligned error matrix of calibrationFirst group of calibration to acquisition
The measurement data of magnetic sensor under point is corrected, and the measurement data of this correction front and back is expressed as hsWithCompare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then willRespective components take negative
Symbol amendment is completed, non-aligned error matrix is eliminatedExisting symbol error, so as to improve the survey of magnetic sensor
Data correction precision is measured, and without relying on other aiding sensors.
The embodiment of the present invention also provides a kind of calibrating three-axle magnetic sensor device, comprising:
AD conversion unit, the measurement data for the magnetic sensor under first group of calibration point to acquisition carry out mould
Number conversion, and the signal after analog-to-digital conversion is sent to information process unit；
Information process unit demarcates non-aligned error matrix for handling the signal after the analog-to-digital conversion；
First power source unit, for powering for the magnetic sensor；
Second power source unit, for powering for the AD conversion unit, information process unit, first power source unit.
Further, the information process unit includes:
Module is obtained, the corresponding number letter of the measurement data for obtaining the magnetic sensor under first group of calibration point
Number；
Demarcating module, described first for magnetic sensor coordinate system calibration result according to the pre-stored data and acquisition
The corresponding digital signal of measurement data of magnetic sensor under group calibration point demarcates initial non-aligned error matrix
Correction module, for described in the magnetic sensor coordinate system calibration result according to the pre-stored data and calibration
Initial non-aligned error matrixTo the corresponding number of measurement data of the magnetic sensor under first group of calibration point of acquisition
Signal is corrected, and the measurement data of this correction front and back is expressed as hsWith
Symbol correction module, for comparing hsWithThe symbol of respective components, if hsWithThe symbol of respective components is different
It causes, then willRespective components take negative symbol of completing to correct.
Further, the information process unit further include:
Evaluation module, for using variance contribution ratio as index, evaluationEach componentCalibration effect, it is described
Variance contribution ratio is low to show that calibration effect is good；
Orthogonal correction module, for recalculating calibration effect difference using the good component of calibration effect by multiplication cross operation
The sequence of component, the multiplication cross operation is determined by the right-hand rule；
Wherein, the orthogonal correction module, if being specifically used for αz<αx<αy, then symbol is repaired according to orthogonal correction expression formula
After justOrthogonal correction is carried out, after orthogonal correctionIt is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyEach componentVariance contribution ratio.
The advantageous effects of the above technical solutions of the present invention are as follows:
Measurement in above scheme, by AD conversion unit to the magnetic sensor under first group of calibration point of acquisition
Data carry out analog-to-digital conversion, and the signal after analog-to-digital conversion is sent to information process unit；By information process unit to institute
Signal after stating analog-to-digital conversion is handled, and non-aligned error matrix is demarcated；It is three axis magnetic biography by first power source unit
Sensor power supply；It is the AD conversion unit by second power source unit, the power supply of information process unit, first power source unit, this
Sample can carry out for a long time calibration experiment under the conditions of outdoor power free, and described device structure is simple, easy to carry.
Detailed description of the invention
Fig. 1 is that symbol provided in an embodiment of the present invention corrects front and back course angle error schematic diagram；
Fig. 2 is course angle error schematic diagram before and after orthogonal correction provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of calibrating three-axle magnetic sensor device provided in an embodiment of the present invention；
Fig. 4 is the detailed construction schematic diagram of calibrating three-axle magnetic sensor device provided in an embodiment of the present invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
There are symbol error and calibration facilities Portable belt and not to need outdoor power for existing calibration result by the present invention
The problem of powering for it provides a kind of calibrating three-axle magnetic sensor method and device.
Embodiment one
Referring to shown in Fig. 1, a kind of calibrating three-axle magnetic sensor method provided in an embodiment of the present invention, comprising:
Obtain the measurement data of magnetic sensor under first group of calibration point；
Under magnetic sensor coordinate system calibration result according to the pre-stored data and first group of calibration point of acquisition
The measurement data of magnetic sensor demarcates initial non-aligned error matrix
The magnetic sensor coordinate system calibration result according to the pre-stored data and the initial non-aligned mistake of calibration
Poor matrixThe measurement data of magnetic sensor under first group of calibration point of acquisition is corrected, before this is corrected
Measurement data afterwards is expressed as hsWith
Compare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then willRespective components
Negative symbol of completing is taken to correct.
Calibrating three-axle magnetic sensor method described in the embodiment of the present invention passes through pre-stored magnetic sensor coordinate
It is the measurement data of calibration result and the magnetic sensor under first group of calibration point of acquisition, demarcates initial non-aligned mistake
Poor matrixThe magnetic sensor coordinate system calibration result according to the pre-stored data and the initial non-aligned mistake of calibration
Poor matrixThe measurement data of magnetic sensor under first group of calibration point of acquisition is corrected, before this is corrected
Measurement data afterwards is expressed as hsWithCompare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is not
Unanimously, then willRespective components take negative symbol of completing to correct, and eliminate non-aligned error matrixExisting symbol error, so as to
The measurement data correction accuracy of magnetic sensor is enough improved, and without relying on other aiding sensors.
It, only need to be at the measurement data to the magnetic sensor under first group of calibration point of acquisition in the present embodiment
Reason, can eliminate non-aligned error matrixExisting symbol error, woth no need to other auxiliary informations: for example, aiding sensors
With navigation attitude reference information.
In the present embodiment, in order to obtain the measurement data of magnetic sensor under first group of calibration point, firstly, needing will be by institute
It states magnetic sensor to be fixed on the manual turntable of Three Degree Of Freedom, and by the magnetic sensor power supply line and signal wire and three
Axial magnetic sensor caliberating device corresponding interface is connected.Horizontal alignment is carried out to the turntable, opens the magnetic sensor mark
Determine installation's power source switch, adjust the turntable attitude angle, and acquires one by one described under the conditions of different heeling conditions and course angle
The measurement data of magnetic sensor.
In the present embodiment, heeling condition successively takes horizontal ,+90 ° of roll and+90 ° of pitching, the course angle under each heeling condition
Value range is 0 ° -330 °, is divided into 30 °；The corresponding calibration point of one specific heeling condition and course angle, will item at this time
For calibration point under part as first group of calibration point, first group of calibration point is used for non-aligned calibration.
In the present embodiment, heeling condition can also successively be taken as level, roll ± 30 °, roll ± 60 ° ,+90 ° of roll, bow
± 30 °, pitching ± 60 ° ,+90 ° of pitching are faced upward, course angle value range is 0 ° -330 ° under each heeling condition, is divided into 30 °；It will
For calibration point under the conditions of at this time as second group of calibration point, second group of calibration point is used for magnetic sensor coordinate system mark
It is fixed.
In the present embodiment, the measurement data of the magnetic sensor under second group of calibration point is obtained, three axis magnetic are obtained
Sensor coordinate system calibration result, the magnetic sensor coordinate system calibration result include: magnetic sensor error matrixZero bias vectorWherein,
In the specific embodiment of aforementioned calibrating three-axle magnetic sensor method, further, the basis is stored in advance
Magnetic sensor coordinate system calibration result and acquisition first group of calibration point under magnetic sensor measurement number
According to the initial non-aligned error matrix of calibrationInclude:
Magnetic sensor coordinate system calibration result according to the pre-stored data corrects three axis under first group of calibration point
The measurement data of Magnetic Sensor, and initial non-aligned error matrix is demarcated using Principal Component AnalysisWherein,It indicatesComponent.
In the specific embodiment of aforementioned calibrating three-axle magnetic sensor method, further, the basis is stored in advance
Magnetic sensor coordinate system calibration result correct the measurement data of the magnetic sensor under first group of calibration point, and
Initial non-aligned error matrix is demarcated using Principal Component AnalysisInclude:
It is rightComponentWhen being demarcated, the magnetic sensor is rotated around carrier x-axis, obtains first group of calibration
N measurement data of the magnetic sensor under point
Magnetic sensor coordinate system calibration result according to the pre-stored data is to three axis magnetic under first group of calibration point
N measurement data of sensorIt is corrected to obtain correction data
Data after average value processing obtains mean value are carried out to correction dataWherein, described
Wherein,It indicatesMean value；
Calculate covariance matrixAnd diagonalization, obtain C=Pdiag (λ1,λ2,λ3)
PT, P=[P1,P2,P3], λ1>λ2>λ3, then
Wherein, λ1,λ2,λ3It is the characteristic value of the covariance matrix after diagonalization, P=[P1,P2,P3] it is association after diagonalization
The feature vector of variance matrix, diag () indicate that diagonal matrix, T indicate transposition；
ComponentCalibration process withIt is identical, calibrationWhen, the magnetic sensor is rotating around carrier
Y-axis and z-axis rotate, data handling procedure withIt is identical,Value be equal to respective calibration process P3。
In the present embodiment,ComponentAfter being demarcated, obtain
Then, rightIt carries out symbol amendment: a calibration point is taken from first group of calibration point, if in the calibration taken
Under point, the measurement data h of magnetic sensors=[- 3801,46310,28677]T, which is corrected, is obtained:Wherein,In -1 indicate inverse matrix, compare hsWith
2nd, there are symbol differences for 3 components, rightThe 2nd, 3 column take it is negative carry out symbol amendment, symbol is revisedAre as follows:
In the specific embodiment of aforementioned calibrating three-axle magnetic sensor method, further, the comparison hsWithIt is right
The symbol of component is answered, if hsWithThe symbol of respective components is inconsistent, then willAfter respective components take negative completion symbol amendment,
The method also includes:
Using variance contribution ratio as index, evaluationEach componentCalibration effect, wherein side
Poor contribution rate is low to show that calibration effect is good；
The component of calibration effect difference is recalculated using the good component of calibration effect by multiplication cross operation, wherein the fork
The sequence of multiplication is determined by the right-hand rule.
It is further, described to pass through multiplication cross operation in the specific embodiment of aforementioned calibrating three-axle magnetic sensor method
The component of calibration effect difference is recalculated using the good component of calibration effect, wherein it is fixed that the sequence of the multiplication cross operation presses the right hand
Then determination includes:
If αz<αx<αy, then revised to symbol according to orthogonal correction expression formulaOrthogonal correction is carried out, after orthogonal correction
'sIt is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyEach componentVariance contribution ratio.
In the present embodiment, αx,αy,αzEffect be measureCalibration effect, αx,αy,αzThe smaller explanation of value
Calibration effect is better, and orthogonal correction expression formula is using triangular size relation as foundation.For example,
IfEach componentVariance contribution ratio be respectively as follows: 9.1 × 10-7,1.2 × 10-6,9.5 × 10-7, it is rightOrthogonal correction is carried out, then after orthogonal correctionIt is expressed asWherein,
It is revisedAre as follows:
In the present embodiment, orthogonal correction method can correct non-orthogonal problem between component existing for initial non-aligned matrix,
So as to improve measurement data correction accuracy.
In the present embodiment, respectively using symbol amendment and the calibration result after orthogonal correctionWithout the modified calibration of symbol
As a resultAnd the calibration result without orthogonal correctionThe measurement data of the magnetic sensor is corrected, and utilizes and turns
The attitude angle information that platform provides calculates course angle error.Symbol amendment front and back course angle error is as shown in Figure 1, before and after orthogonal correction
Course angle error as shown in Fig. 2, as depicted in figs. 1 and 2, through symbol amendment and orthogonal correction, course angle worst error after correction
It is 0.40 °, root-mean-square error is 0.21 °；Course angle worst error is 180.00 ° after no symbol amendment correction, root-mean-square error
It is 102.90 °；Course angle worst error is 1.39 ° after no orthogonal correction correction, and root-mean-square error is 0.62 °.
Embodiment two
Shown in referring to Fig. 3, the embodiment of the present invention also provides a kind of calibrating three-axle magnetic sensor device, comprising:
AD conversion unit 11, the measurement data for the magnetic sensor under first group of calibration point to acquisition carry out
Analog-to-digital conversion, and the signal after analog-to-digital conversion is sent to information process unit；
Information process unit 12 demarcates non-aligned error matrix for handling the signal after the analog-to-digital conversion；
First power source unit 13, for powering for the magnetic sensor；
Second power source unit 14, for powering for the AD conversion unit, information process unit, first power source unit.
Calibrating three-axle magnetic sensor device described in the embodiment of the present invention, by AD conversion unit to first group of acquisition
The measurement data of magnetic sensor under calibration point carries out analog-to-digital conversion, and the signal after analog-to-digital conversion is sent at information
Manage unit；The signal after the analog-to-digital conversion is handled by information process unit, demarcates non-aligned error matrix；Pass through
First power source unit is magnetic sensor power supply；It is the AD conversion unit by second power source unit, at information
Unit, first power source unit power supply are managed, in such manner, it is possible to carry out calibration experiment, and institute for a long time under the conditions of outdoor power free
It is simple to state apparatus structure, it is easy to carry.
In the present embodiment, the function of the information process unit can be by PC, tablet computer, Programmable logical controller
Device, intelligent chip unit etc. are realized.
As shown in figure 4, the first power source unit can be DC power supply 3, the second power source unit in the present embodiment
It may include: battery 4 and inverter 5.Described device in addition to include: information process unit 1, it is modulus (AD) converting unit 2, straight
Galvanic electricity source 3, battery 4, inverter 5, described device further include: Portable machine box, power switch 6, charging interface 7, power supply connect
Mouth 8, signaling interface 9 and connecting wire (wherein, solid line is for electrical connecting wire, and dotted line is signal connecting wire)；Specifically, can
Installed in the Portable machine box bottom plate in the Portable machine box front panel mount message processing unit 1 and power switch 6
AD conversion unit 2, DC power supply 3, battery 4 and inverter 5 install charging interface 7, electricity in the Portable machine box rear panel
Source interface 8 and signaling interface 9.In this way, each component is mounted in the Portable machine box, it is easy to carry；And described device is also
Configured with battery and inverter, calibration experiment can be carried out for a long time under the conditions of outdoor power free.
In the present embodiment, power interface is used to connect the power supply line of magnetic sensor magnetic sensor, DC power supply
It is powered by the power interface to magnetic sensor, signaling interface is used to connect the signal wire of magnetic sensor, and AD turns
Unit is changed for converting digital signal for the measurement data of magnetic sensor, after information process unit is used for the conversion
Digital signal handled, export calibration result；Battery is the power supply of the calibrating three-axle magnetic sensor device, charging
Mouth is connected for connecting the charging cable of battery, power switch for switching on and off storage battery power supply, and the input of inverter is
The direct current of battery output, output is 220V alternating current, and inverter is converted to battery out-put supply, is at information
Unit, AD conversion unit and DC power supply power supply are managed, it is easy to operate.
In the specific embodiment of aforementioned calibrating three-axle magnetic sensor device, further, the information process unit
Include:
Module is obtained, the corresponding number letter of the measurement data for obtaining the magnetic sensor under first group of calibration point
Number；
Demarcating module, described first for magnetic sensor coordinate system calibration result according to the pre-stored data and acquisition
The corresponding digital signal of measurement data of magnetic sensor under group calibration point demarcates initial non-aligned error matrix
Correction module, for described in the magnetic sensor coordinate system calibration result according to the pre-stored data and calibration
Initial non-aligned error matrixTo the corresponding number of measurement data of the magnetic sensor under first group of calibration point of acquisition
Signal is corrected, and the measurement data of this correction front and back is expressed as hsWith
Symbol correction module, for comparing hsWithThe symbol of respective components, if hsWithThe symbol of respective components is different
It causes, then willRespective components take negative symbol of completing to correct.
In the specific embodiment of aforementioned calibrating three-axle magnetic sensor device, further, the information process unit
Further include:
Evaluation module, for using variance contribution ratio as index, evaluationEach componentCalibration effect, it is described
Variance contribution ratio is low to show that calibration effect is good；
Orthogonal correction module, for recalculating calibration effect difference using the good component of calibration effect by multiplication cross operation
The sequence of component, the multiplication cross operation is determined by the right-hand rule；
Wherein, the orthogonal correction module, if being specifically used for αz<αx<αy, then symbol is repaired according to orthogonal correction expression formula
After justOrthogonal correction is carried out, after orthogonal correctionIt is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyEach componentVariance contribution ratio.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of calibrating three-axle magnetic sensor method characterized by comprising
Obtain the measurement data of magnetic sensor under first group of calibration point；
Three axis under magnetic sensor coordinate system calibration result according to the pre-stored data and first group of calibration point of acquisition
The measurement data of Magnetic Sensor demarcates initial non-aligned error matrix
The magnetic sensor coordinate system calibration result according to the pre-stored data and the initial non-aligned error moments of calibration
Battle arrayThe measurement data of magnetic sensor under first group of calibration point of acquisition is corrected, by this correction front and back
Measurement data is expressed as hsWith
Compare hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then willRespective components, which take, have been born
It is corrected at symbol.
2. calibrating three-axle magnetic sensor method according to claim 1, which is characterized in that a specific heeling condition and
Course angle corresponds to a calibration point.
3. calibrating three-axle magnetic sensor method according to claim 1, which is characterized in that described according to the pre-stored data three
The measurement data of axial magnetic sensor coordinate system calibration result and the magnetic sensor under first group of calibration point of acquisition, mark
Fixed initial non-aligned error matrixInclude:
Magnetic sensor coordinate system calibration result according to the pre-stored data corrects the biography of three axis magnetic under first group of calibration point
The measurement data of sensor, and initial non-aligned error matrix is demarcated using Principal Component AnalysisWherein,It indicatesComponent.
4. calibrating three-axle magnetic sensor method according to claim 3, which is characterized in that described according to the pre-stored data three
Axial magnetic sensor coordinate system calibration result corrects the measurement data of the magnetic sensor under first group of calibration point, and uses
Principal Component Analysis demarcates initial non-aligned error matrixInclude:
It is rightComponentWhen being demarcated, the magnetic sensor is rotated around carrier x-axis, is obtained under first group of calibration point
Magnetic sensor n measurement data
Magnetic sensor coordinate system calibration result according to the pre-stored data senses three axis magnetic under first group of calibration point
N measurement data of deviceIt is corrected to obtain correction data
Data after average value processing obtains mean value are carried out to correction data
Calculate covariance matrixAnd diagonalization, obtain C=Pdiag (λ1,λ2,λ3)PT, P=
[P1,P2,P3], λ1> λ2> λ3, then
Wherein, λ1,λ2,λ3It is the characteristic value of the covariance matrix after diagonalization, P=[P1,P2,P3] it is covariance after diagonalization
The feature vector of matrix, diag () indicate that diagonal matrix, T indicate transposition；
ComponentCalibration process withIt is identical, calibrationWhen, the magnetic sensor is rotating around carrier y-axis
With z-axis rotate, data handling procedure withIt is identical,Value be equal to respective calibration process P3。
5. calibrating three-axle magnetic sensor method according to claim 4, which is characterized in that described
Wherein,It indicatesMean value.
6. calibrating three-axle magnetic sensor method according to claim 1, which is characterized in that the comparison hsWithCorresponding point
The symbol of amount, if hsWithThe symbol of respective components is inconsistent, then willIt is described after respective components take negative completion symbol amendment
Method further include:
Using variance contribution ratio as index, evaluationEach componentCalibration effect, wherein variance tribute
Offer rate it is low show demarcate effect it is good；
The component of calibration effect difference is recalculated using the good component of calibration effect by multiplication cross operation, wherein the multiplication cross fortune
The sequence of calculation is determined by the right-hand rule；
Wherein, the component for recalculating calibration effect difference using the good component of calibration effect by multiplication cross operation, wherein institute
The sequence for stating multiplication cross operation includes: by right-hand rule determination
If αz<αx<αy, then revised to symbol according to orthogonal correction expression formulaOrthogonal correction is carried out, after orthogonal correction
It is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyEach componentVariance contribution ratio.
7. a kind of calibrating three-axle magnetic sensor device characterized by comprising
AD conversion unit, the measurement data for the magnetic sensor under first group of calibration point to acquisition carry out modulus and turn
It changes, and the signal after analog-to-digital conversion is sent to information process unit；
Information process unit demarcates non-aligned error matrix for handling the signal after the analog-to-digital conversion；
First power source unit, for powering for the magnetic sensor；
Second power source unit, for powering for the AD conversion unit, information process unit, first power source unit；
Wherein, the information process unit includes:
Obtain module, the corresponding digital signal of measurement data for obtaining the magnetic sensor under first group of calibration point；
Demarcating module, first group of mark for magnetic sensor coordinate system calibration result according to the pre-stored data and acquisition
The corresponding digital signal of measurement data of magnetic sensor under fixed point demarcates initial non-aligned error matrix
Correction module, for the described initial of the magnetic sensor coordinate system calibration result according to the pre-stored data and calibration
Non-aligned error matrixTo the corresponding digital signal of measurement data of the magnetic sensor under first group of calibration point of acquisition
It is corrected, the measurement data of this correction front and back is expressed as hsWith
Symbol correction module, for comparing hsWithThe symbol of respective components, if hsWithThe symbol of respective components is inconsistent, then
It willRespective components take negative symbol of completing to correct.
8. calibrating three-axle magnetic sensor device according to claim 7, which is characterized in that the information process unit also wraps
It includes:
Evaluation module, for using variance contribution ratio as index, evaluationEach componentCalibration effect, the variance
Contribution rate is low to show that calibration effect is good；
Orthogonal correction module, for recalculating point of calibration effect difference using the good component of calibration effect by multiplication cross operation
The sequence of amount, the multiplication cross operation is determined by the right-hand rule；
Wherein, the orthogonal correction module, if being specifically used for αz<αx<αy, then after being corrected according to orthogonal correction expression formula to symbol
'sOrthogonal correction is carried out, after orthogonal correctionIt is expressed asThe orthogonal correction expression formula are as follows:
Wherein, αx,αy,αzRespectivelyEach componentVariance contribution ratio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076081.9A CN106525079B (en) | 2016-11-29 | 2016-11-29 | A kind of calibrating three-axle magnetic sensor method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611076081.9A CN106525079B (en) | 2016-11-29 | 2016-11-29 | A kind of calibrating three-axle magnetic sensor method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106525079A CN106525079A (en) | 2017-03-22 |
| CN106525079B true CN106525079B (en) | 2019-03-29 |
Family
ID=58355126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611076081.9A Active CN106525079B (en) | 2016-11-29 | 2016-11-29 | A kind of calibrating three-axle magnetic sensor method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106525079B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340001B (en) * | 2017-05-23 | 2020-02-28 | 中国人民解放军军械工程学院 | Geomagnetic measurement error compensation test device |
| CN108344963B (en) * | 2018-01-05 | 2021-03-02 | 和芯星通（上海）科技有限公司 | Method and apparatus for determining magnetic sensor data, electronic device, and storage medium |
| CN112577403B (en) * | 2019-09-27 | 2023-04-11 | 大族激光科技产业集团股份有限公司 | Method and system for evaluating capacitor calibration effect |
| CN112710309B (en) * | 2020-12-08 | 2023-03-28 | 中国石油大学胜利学院 | Attitude heading parameter estimation method |
| CN112362085A (en) * | 2021-01-12 | 2021-02-12 | 中国石油大学胜利学院 | Method for acquiring correction experiment data of nine-axis sensor |
| CN112362086A (en) * | 2021-01-12 | 2021-02-12 | 中国石油大学胜利学院 | Method for acquiring simulation correction experiment data of three-axis magnetic sensor |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102879832A (en) * | 2012-09-21 | 2013-01-16 | 中国人民解放军国防科学技术大学 | Non-alignment error correction method used for geomagnetic element measuring system |
| CN103033786A (en) * | 2011-10-08 | 2013-04-10 | 中国科学院空间科学与应用研究中心 | Quadrature calibration method and device of triaxial vector magnetometer |
| CN105301667A (en) * | 2015-10-14 | 2016-02-03 | 中国兵器工业集团第二一四研究所苏州研发中心 | Self-calibration geomagnetic sensor circuit |
| CN105891755A (en) * | 2016-02-25 | 2016-08-24 | 吉林大学 | Aircraft hanging-type fluxgate magnetic gradient tensor instrument correction method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120098525A1 (en) * | 2010-10-26 | 2012-04-26 | Research In Motion Limited | System and Method for Calibrating a Magnetometer According to Device States |
-
2016
- 2016-11-29 CN CN201611076081.9A patent/CN106525079B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103033786A (en) * | 2011-10-08 | 2013-04-10 | 中国科学院空间科学与应用研究中心 | Quadrature calibration method and device of triaxial vector magnetometer |
| CN102879832A (en) * | 2012-09-21 | 2013-01-16 | 中国人民解放军国防科学技术大学 | Non-alignment error correction method used for geomagnetic element measuring system |
| CN105301667A (en) * | 2015-10-14 | 2016-02-03 | 中国兵器工业集团第二一四研究所苏州研发中心 | Self-calibration geomagnetic sensor circuit |
| CN105891755A (en) * | 2016-02-25 | 2016-08-24 | 吉林大学 | Aircraft hanging-type fluxgate magnetic gradient tensor instrument correction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106525079A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106525079B (en) | A kind of calibrating three-axle magnetic sensor method and device | |
| US20190293689A1 (en) | Contactless current measurement using magnetic sensors | |
| CN101806595B (en) | Two-dimensional electronic compass calibration algorithm | |
| CN106405460A (en) | Electronic instrument voltage detection calibration system and calibration method | |
| CN104316037A (en) | Electronic compass correction method and device | |
| CN109733643A (en) | A kind of aircraft navigation attitude device test system | |
| JP6947194B2 (en) | Signal processing circuit and magnetic sensor system | |
| CN105445818A (en) | Automatic meteorological station data acquisition device checking system and checking method thereof | |
| CN103105525B (en) | Precision compensation method of current clamp, detection method and detection system using current clamp | |
| CN102610463A (en) | Device and method for supplementing and correcting cassette offset | |
| CN108613684B (en) | Method for testing angle precision of fixed base frame of three-floating platform system | |
| CN206057540U (en) | A kind of three-dimension reconstruction device | |
| CN108548849A (en) | A kind of apparatus and system measuring moisture | |
| CN209570317U (en) | A kind of direction self-correcting vibrating sensor | |
| CN2638074Y (en) | Intelligent three-dimensional magnetic field detector | |
| CN109978969B (en) | Drawing device and method for vector diagram of electric power system | |
| CN104614570B (en) | A kind of method and device for measuring electric current | |
| CN107037693A (en) | A kind of new UVLED exposure light source uniformity real-time testing systems | |
| CN111551119A (en) | Track instrument for detecting irregular crack length of water transport engineering entity | |
| JP2000180170A (en) | Earth magnetism detecting device | |
| CN109541708B (en) | method for measuring three-dimensional vector field by using double-shaft sensor | |
| CN112947032B (en) | Clock calibration device and method | |
| CN203299280U (en) | Reception impedance measuring system for electric field measuring electrode | |
| CN114353828B (en) | Laser strapdown inertial measurement unit calibration test device and test method | |
| CN213069011U (en) | Full-range automatic switching resistance measurement CPCI board card |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |