CN107024673B - Three axis magnetometer total error scaling method based on gyroscope auxiliary - Google Patents
Three axis magnetometer total error scaling method based on gyroscope auxiliary Download PDFInfo
- Publication number
- CN107024673B CN107024673B CN201710362481.4A CN201710362481A CN107024673B CN 107024673 B CN107024673 B CN 107024673B CN 201710362481 A CN201710362481 A CN 201710362481A CN 107024673 B CN107024673 B CN 107024673B
- Authority
- CN
- China
- Prior art keywords
- axis
- magnetometer
- axis magnetometer
- gyroscope
- error
- 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
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
Abstract
The present invention proposes a kind of three axis magnetometer total error scaling method based on gyroscope auxiliary, suitable for portable navigation devices such as strapdown inertial navigation system, mobile phones, the sensor combinations module that this method is connected using three-axis gyroscope and three axis magnetometer, using cuboid framework and sensor combinations module, the soft magnetism error of magnetometer, Hard Magnetic error, zero offset error, scale factor error, non-orthogonal errors and installation error are demarcated.In having magnetic environment, by changing putting towards and rotating for cuboid framework, three axis magnetometer and three-axis gyroscope output data are obtained.The first step is exported by the magnetometer interpolation that gyroscope output auxiliary such as obtains at the rotation angle interval, and second step obtains error coefficient matrix and zero bias vector calibration value by the output linear operation of magnetometer interpolation.Method of the invention has the advantages that equipment requirement is low, easy to operate, the nominal time is short, calculation amount is small, with high accuracy.
Description
Technical field
The present invention relates to three axis magnetometer calibration technique field, in particular to a kind of three axis magnetic strength based on gyroscope auxiliary
Count total error scaling method.
Background technique
Due to the foozle and rigging error of three axis magnetometer, and interference of the extraneous ferromagnetic object to magnetic field, survey
The precision for measuring earth's magnetic field is lower.The error of magnetometer derives from itself error of environmental disturbances and magnetometer.Environmental disturbances include
Hard Magnetic interference and soft magnetism interference, the main error of magnetometer itself include zero offset error, scale factor error, non-orthogonal errors,
Alignment error is installed.These errors seriously affect magnetometer applied to the determining precision with attitude measurement in course, are marked
It is fixed, error coefficient is obtained, and then compensate the original output of magnetometer.
Scaling method has much at present, specifically includes that
1. magnetometer rotates one week in the horizontal plane, 2 axis magnetic strength are completed using the maximum value and minimum value of magnetometer output
The scale factor error of meter and the calibration of zero offset error.But the method can be only done the magnetometer calibration of 2 axis, and can only mark
Determine fractional error item, precision is low.
2. can not demarcate by the ellipsoid fitting scaling method of sipping magneto-meter in three-dimensional space and be interfered by soft magnetism, is non-
Rotation error item caused by quadrature error, installation error, compensation effect is limited, and passes through the ellipsoid fitting process of least square method
It is computationally intensive.
3. determining direction using high-accuracy non-magnetic turntable, and magnetic field data is obtained by the magnetometer of higher precision, passed through
It tests and determines error coefficient, correction accuracy is high, but the high requirements on the equipment, and complicated for operation.
4. magnetometer is fixed in square, by 12 it is different put orientation, to the error coefficient of magnetometer into
Row solves.However the accuracy requirement that the method puts direction to 12 is high, and the data point relied on is less, random noise compared with
When big, it is easy to produce biggish calibrated error.
Generally speaking, presently relevant scaling method is high, complicated for operation with equipment requirement, it is complicated to calculate, only completes portion
The calibration of point error term is only applicable to the disadvantages of calibration of 2 axis magnetometers.
Summary of the invention
The present invention is directed at least solve one of above-mentioned technical problem.
For this purpose, it is an object of the invention to propose a kind of three axis magnetometer total error calibration side based on gyroscope auxiliary
Method, this method have the advantages that equipment requirement is low, easy to operate, the nominal time is short, calculation amount is small, with high accuracy.
To achieve the goals above, it is complete to propose a kind of three axis magnetometer based on gyroscope auxiliary for the embodiment of the present invention
Error calibrating method, comprising the following steps: S1: by the sensor combinations module of three-axis gyroscope and the connected composition of three axis magnetometer
It being installed in cuboid framework, and numbering respectively to six faces of frame is 1~6, wherein coding rule are as follows: 1 and 2 faces are opposite,
And perpendicular to sensor combinations module z-axis, 3 and 4 faces are opposite, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are opposite, and
Perpendicular to sensor combinations module x-axis；S2: setting rotating cycle n, it is 1 to be placed in bright and clean no magnetic recording level up by frame number
On face, it is more than n circle around the axis rotating frame perpendicular to plane, obtains 1 group of three axis magnetometer and three-axis gyroscope output data；
S3: the face that number is 2~6 is placed in upward respectively on bright and clean no magnetic recording level face, is more than n around the axis rotating frame perpendicular to plane
Circle, obtains other 5 groups of three axis magnetometers and three-axis gyroscope output data；S4: setting interpolation interval angles Δ θ, and set frame
The number k in the face of frame upward；S5: by sensitive axes perpendicular to the output of Plane of rotation gyroscopeIntegral obtains each sampling
The rotation angle θ of pointj, and work as θj>=360n stops integral, saves each sampled point rotation angle θ；S6: according to each sampled point rotation angle θ
M is exported with each sampled point three axis magnetometerk, calculate equiangularly spaced three axis magnetometer interpolation output；S7: change frame upward
Face number k, repeat step S5 to S6, obtain the output of other 5 groups of three axis magnetometer interpolation, finally obtain three axis magnetometer and insert
Value outputI=1~360n/ Δ θ, k=1~6；S8: it is exported according to finally obtained three axis magnetometer interpolation and calculates zero bias
Error vector；S9: the magnetic-field component h perpendicular to plane is obtained⊥；S10: according to the output of three axis magnetometer interpolation and magnetic-field component h⊥
Calculate error coefficient matrix；S11: according to error coefficient matrix described in the obtained zero offset error vector sum, to three axis magnetic strength
It counts original output and carries out error compensation.
In addition, the three axis magnetometer total error scaling method according to the above embodiment of the present invention based on gyroscope auxiliary is also
It can have following additional technical characteristic:
In some instances, in the S6, it is defeated that equiangularly spaced three axis magnetometer interpolation is calculated by following formula
Out:
In some instances, in the S8, the zero offset error vector is calculated by following formula:
In some instances, in the S9, the magnetic-field component h⊥To preset, or passes through preset formula and calculate
Obtain the magnetic-field component h⊥。
In some instances, the preset formula are as follows:
In some instances, in the S10, the error coefficient matrix are as follows: K=[K1K2K3], wherein
In some instances, in the S11, the mode that error compensation is carried out to the original output of three axis magnetometer
Are as follows:
Wherein,For the output of compensated three axis magnetometer.
In some instances, in the S5, angle, θjFor relative rotation angle.
In some instances, in the S4, interpolation interval angles Δ θ be 360 common divisor.
Three axis magnetometer total error scaling method according to an embodiment of the present invention based on gyroscope auxiliary has following excellent
Point:
1. this method is low for equipment requirements during realizing, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is easy to operate, the overturning of magnetometer no north orientation alignment etc. is required, rotary course does not need to control
Accurate rotation angle, to rotation speed and direction of rotation also without particular/special requirement；
3. this method calculates simply, equiangularly spaced magnetometer interpolation is obtained by linear interpolation and is exported, then passes through magnetic
Strong meter interpolation output, obtains error coefficient matrix and zero offset error vector by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is easy to operate, calculate simply, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscopes in strap-down inertial equipment to assist completing magnetometer total error
Calibration.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the three axis magnetometer total error scaling method according to an embodiment of the invention based on gyroscope auxiliary；
Fig. 2 is each face expanded schematic diagram of cuboid framework according to an embodiment of the invention；
Fig. 3 is cuboid framework according to an embodiment of the invention and sensor die sensitive axes aligned relationship schematic diagram；
Fig. 4 is rotation process process schematic according to an embodiment of the invention；
Fig. 5 is the schematic diagram of three axis magnetometer output valve before and after calibration according to an embodiment of the invention；
Fig. 6 is the schematic diagram of x before and after calibration according to an embodiment of the invention, y-axis magnetometer output valve；
Fig. 7 is the schematic diagram of x before and after calibration according to an embodiment of the invention, z-axis magnetometer output valve；
Fig. 8 is the schematic diagram of y before and after calibration according to an embodiment of the invention, z-axis magnetometer output valve；
Fig. 9 is magnetometer angle error schematic diagram before and after calibration according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
The three axis magnetometer total error mark according to an embodiment of the present invention based on gyroscope auxiliary is described below in conjunction with attached drawing
Determine method.
Fig. 1 is the three axis magnetometer total error scaling method according to an embodiment of the invention based on gyroscope auxiliary
Flow chart.As shown in Figure 1, method includes the following steps:
Step S1: it is rectangular that the sensor combinations module of three-axis gyroscope and the connected composition of three axis magnetometer is installed on no magnetic
In body frame, and numbering respectively to six faces of frame is 1~6, wherein coding rule are as follows: 1 and 2 faces are opposite, and perpendicular to biography
Sensor composite module z-axis, 3 and 4 faces are opposite, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are opposite, and perpendicular to sensing
Device composite module x-axis, concrete example are as shown in Figures 2 and 3.
Step S2: setting rotating cycle n, be 1 to be placed on bright and clean no magnetic recording level face up by frame number, around perpendicular to
The axis rotating frame of plane is more than n circle, obtains 1 group of three axis magnetometer and three-axis gyroscope output data, specific rotary course
Such as shown in Fig. 4.
Step S3: the face that number is 2~6 is placed in upward respectively on bright and clean no magnetic recording level face again, around the axis perpendicular to plane
Rotating frame is more than n circle, obtains other 5 groups of three axis magnetometers and three-axis gyroscope output data.
It should be noted that in one embodiment of the invention, in above-mentioned steps S2 and S3, to the water of bright and clean plane
Pingdu does not require, and does not require the direction of side when putting of magnetometer, to it is clockwise with direction of rotation counterclockwise without
It is required that the operation order no requirement (NR) in the face to cuboid framework upward, to rotation speed no requirement (NR).
Step S4: setting interpolation interval angles Δ θ, and set the number k in the face of frame upward.
Specifically, in one embodiment of the invention, the common divisor that interpolation interval angles Δ θ is 360.
Step S5: by sensitive axes perpendicular to the output of Plane of rotation gyroscopeIntegral obtains the rotation of each sampled point
Rotational angle thetaj, and work as θj>=360n stops integral, saves each sampled point rotation angle θ.
Specifically, in one embodiment of the invention, angle, θjFor relative rotation angle.
Step S6: m is exported according to each sampled point rotation angle θ and each sampled point three axis magnetometerk, calculate equiangularly spaced
The output of three axis magnetometer interpolation.
Specifically, in one embodiment of the invention, three equiangularly spaced axis magnetic are calculated by following interpolation formula
Strong meter interpolation output:
Step S7: changing the number k in the face of frame upward, repeat step S5 to S6, obtains other 5 groups of three axis magnetometers and inserts
Value output finally obtains the output of three axis magnetometer interpolation are as follows:I=1~360n/ Δ θ, k=1~6.
Step S8: it is exported according to finally obtained three axis magnetometer interpolation and calculates zero offset error vector.
Specifically, in one embodiment of the invention, zero offset error vector is calculated by following formula:
Step S9: the magnetic-field component h perpendicular to plane is obtained⊥。
Specifically, in one embodiment of the invention, magnetic-field component h⊥To preset, or pass through preset formula meter
Calculation obtains magnetic-field component h⊥.In other words, by given data, set the magnetic-field component h perpendicular to plane⊥, or by default
The magnetic-field component h perpendicular to plane is calculated in formula⊥。
More specifically, preset formula is for example are as follows:
Step S10: according to the output of three axis magnetometer interpolation and magnetic-field component h⊥Calculate error coefficient matrix.
Specifically, in one embodiment of the invention, error coefficient matrix are as follows: K=[K1 K2 K3], wherein
Step S11: according to obtained zero offset error vector sum error coefficient matrix, the original output of three axis magnetometer is carried out
Error compensation.
Specifically, in one embodiment of the invention, the mode of error compensation is carried out to the original output of three axis magnetometer
Are as follows:
Wherein,For the output of compensated three axis magnetometer.Further, the reference value of rotation angle is provided with turntable, it is right
The angular error calculated than calibration front and back by magnetometer.As specific example, calibration front and back three axis magnetometer output valve is for example
Shown in Fig. 5；Calibration front and back x, y-axis magnetometer output valve are for example shown in Fig. 6；Calibration front and back x, z-axis magnetometer output valve such as Fig. 7
It is shown；Calibration front and back y, z-axis magnetometer output valve are for example shown in Fig. 8；Calibration front and back three axis magnetometer angle error such as Fig. 9 institute
Show, it can be seen from the figure that calibrated three axis magnetometer angle error is obviously reduced.
To sum up, the three axis magnetometer total error scaling method according to an embodiment of the present invention based on gyroscope auxiliary, has
Following advantage:
1. this method is low for equipment requirements during realizing, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is easy to operate, the overturning of magnetometer no north orientation alignment etc. is required, rotary course does not need to control
Accurate rotation angle, to rotation speed and direction of rotation also without particular/special requirement；
3. this method calculates simply, equiangularly spaced magnetometer interpolation is obtained by linear interpolation and is exported, then passes through magnetic
Strong meter interpolation output, obtains error coefficient matrix and zero offset error vector by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is easy to operate, calculate simply, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscopes in strap-down inertial equipment to assist completing magnetometer total error
Calibration.
For the ease of more fully understanding the present invention, below in conjunction with specific embodiment to the above embodiment of the present invention based on top
The three axis magnetometer total error scaling method of spiral shell instrument auxiliary carries out detailed exemplary description.
Embodiment 1
It in the present embodiment, should be based on the three axis magnetometer total error scaling method that gyroscope assists for example including following step
It is rapid:
A) SBG IG-500N three-axis gyroscope and three axis magnetometer sensor combinations module are selected, is processed without magnetic cuboid
Frame, and sensor module is installed in frame.
B) the sensor combinations module of three axis magnetometer and three-axis gyroscope is installed in cuboid framework, to frame
Six face numbers 1~6, coding rule are as follows: 1 and 2 faces are opposite, perpendicular to sensor combinations module z-axis；3 and 4 faces are opposite, vertically
In sensor combinations module y-axis；5 and 6 faces are opposite, perpendicular to sensor combinations module x-axis.
C) rotating cycle n=2 is set.It is 1 to be placed on bright and clean no magnetic recording level face up by frame number, around perpendicular to flat
The axis rotating frame in face is more than n circle, saves 1 group of three axis magnetometer and three-axis gyroscope output data.
D) 2~6 face of number is placed in upward respectively on bright and clean no magnetic recording level face again, it is super around the axis rotating frame perpendicular to plane
N circle is crossed, other 5 groups of three axis magnetometers and three-axis gyroscope output data are obtained.
E) interpolation interval angles Δ θ=1 ° is set, and sets the number k=1 in the face of frame upward.
F) by sensitive axes perpendicular to the output of Plane of rotation gyroscopeIntegral obtains the rotation angle of each sampled point
θj.Work as θj>=360n stops integral, saves each sampled point rotation angle θ.
G) m is exported by each sampled point rotation angle θ and each sampled point three axis magnetometerk, pass through following interpolation formula:
Obtain the output of three axis magnetometer interpolationI=1~360n/ Δ θ.
H) the number k for changing the face of frame upward, takes k=2~6 respectively, repeats step e~f, obtains other 5 group of three axis
The output of magnetometer interpolation, finally obtainsI=1~360n/ Δ θ, k=1~6.
I) by following formula, zero offset error vector is calculated:
J) the magnetic-field component h perpendicular to plane is set⊥, or by following formula, the magnetic field perpendicular to plane is calculated
Component:
K) by following formula, error coefficient matrix K=[K is calculated1K2K3], wherein
L) the zero offset error vector as obtained in step h and step j and error coefficient matrix, it is original to magnetometer export into
Row error compensation exports after being compensated:
M) reference value of rotation angle, the angular error calculated before and after correlation calibration by magnetometer are provided with turntable.
To sum up, the three axis magnetometer total error scaling method according to an embodiment of the present invention based on gyroscope auxiliary, has
Following advantage:
1. this method is low for equipment requirements during realizing, it is only necessary to use no magnetic cuboid framework, and three axis magnetometer
The sensor combinations module being connected with three-axis gyroscope is very universal；
2. this method is easy to operate, the overturning of magnetometer no north orientation alignment etc. is required, rotary course does not need to control
Accurate rotation angle, to rotation speed and direction of rotation also without particular/special requirement；
3. this method calculates simply, equiangularly spaced magnetometer interpolation is obtained by linear interpolation and is exported, then passes through magnetic
Strong meter interpolation output, obtains error coefficient matrix and zero offset error vector by once linear equation, be not related to least square method,
The Solve problems such as Nonlinear System of Equations；
4. this method is easy to operate, calculate simply, so that short the time required to calibration process；
5. the process efficiently utilizes the gyroscopes in strap-down inertial equipment to assist completing magnetometer total error
Calibration.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is by claim and its equivalent limits.
Claims (9)
1. a kind of three axis magnetometer total error scaling method based on gyroscope auxiliary, which comprises the following steps:
S1: the sensor combinations module of three-axis gyroscope and the connected composition of three axis magnetometer is installed in cuboid framework, and
Numbering respectively to six faces of frame is 1~6, wherein coding rule are as follows: 1 and 2 faces are opposite, and perpendicular to sensor combinations mould
Block z-axis, 3 and 4 faces are opposite, and perpendicular to sensor combinations module y-axis, 5 and 6 faces are opposite, and perpendicular to sensor combinations module x
Axis；
S2: setting rotating cycle n, it is 1 to be placed on bright and clean no magnetic recording level face up by frame number, around the axis perpendicular to plane
Rotating frame is more than n circle, obtains 1 group of three axis magnetometer and three-axis gyroscope output data；
S3: the face that number is 2~6 is placed in upward respectively on bright and clean no magnetic recording level face, super around the axis rotating frame perpendicular to plane
N circle is crossed, other 5 groups of three axis magnetometers and three-axis gyroscope output data are obtained；
S4: setting interpolation interval angles Δ θ, and set the number k in the face of frame upward；
S5: by sensitive axes perpendicular to the output of Plane of rotation gyroscopeIntegral obtains the rotation angle θ of each sampled pointj, and
Work as θj>=360n stops integral, saves each sampled point rotation angle θ；
S6: m is exported according to each sampled point rotation angle θ and each sampled point three axis magnetometerk, calculate three equiangularly spaced axis magnetic strength
Count interpolation output；
S7: changing the number k in the face of frame upward, repeat step S5 to S6, obtains other 5 groups of three axis magnetometer interpolation output,
Finally obtain the output of three axis magnetometer interpolation
S8: it is exported according to finally obtained three axis magnetometer interpolation and calculates zero offset error vector；
S9: the magnetic-field component h perpendicular to plane is obtained⊥；
S10: according to the output of three axis magnetometer interpolation and magnetic-field component h⊥Calculate error coefficient matrix；
S11: according to error coefficient matrix described in the obtained zero offset error vector sum, the original output of three axis magnetometer is carried out
Error compensation.
2. the three axis magnetometer total error scaling method according to claim 1 based on gyroscope auxiliary, which is characterized in that
In the S6, equiangularly spaced three axis magnetometer interpolation is calculated by following formula and is exported:
3. the three axis magnetometer total error scaling method according to claim 2 based on gyroscope auxiliary, which is characterized in that
In the S8, the zero offset error vector is calculated by following formula:
4. the three axis magnetometer total error scaling method according to claim 3 based on gyroscope auxiliary, which is characterized in that
In the S9, the magnetic-field component h⊥To preset, or the magnetic-field component h is calculated by preset formula⊥。
5. the three axis magnetometer total error scaling method according to claim 4 based on gyroscope auxiliary, which is characterized in that
The preset formula are as follows:
6. the three axis magnetometer total error scaling method according to claim 5 based on gyroscope auxiliary, which is characterized in that
In the S10, the error coefficient matrix are as follows: K=[K1 K2 K3], wherein
7. the three axis magnetometer total error scaling method according to claim 6 based on gyroscope auxiliary, which is characterized in that
In the S11, the mode that error compensation is carried out to the original output of three axis magnetometer are as follows:
Wherein,For the output of compensated three axis magnetometer.
8. the three axis magnetometer total error scaling method according to claim 1 based on gyroscope auxiliary, which is characterized in that
In the S5, angle, θjFor relative rotation angle.
9. the three axis magnetometer total error scaling method according to claim 1 based on gyroscope auxiliary, which is characterized in that
In the S4, interpolation interval angles Δ θ be 360 common divisor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362481.4A CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710362481.4A CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107024673A CN107024673A (en) | 2017-08-08 |
| CN107024673B true CN107024673B (en) | 2019-05-28 |
Family
ID=59529782
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710362481.4A Active CN107024673B (en) | 2017-05-22 | 2017-05-22 | Three axis magnetometer total error scaling method based on gyroscope auxiliary |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107024673B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107656227B (en) * | 2017-09-21 | 2019-10-11 | 大连理工大学 | Magnetometer calibration method based on Levenberg-Marquardt algorithm |
| US20220026214A1 (en) * | 2018-09-25 | 2022-01-27 | Ceva Technologies, Inc. | Methods and apparatus for calibrating the zero rate output of a sensor |
| CN111239667B (en) * | 2020-03-16 | 2021-07-30 | 吉林大学 | Unified correction method for magnetic gradient dilatometer of each order |
| CN113126642B (en) * | 2021-04-26 | 2022-12-02 | 广东华南计算技术研究所 | Yaw angle measuring method based on multi-MEMS inertial sensor |
| CN113063447B (en) * | 2021-06-02 | 2021-08-13 | 北京三快在线科技有限公司 | Gyroscope calibration method and device, readable storage medium and electronic equipment |
| CN113325353B (en) * | 2021-07-09 | 2022-06-21 | 中国科学院上海微系统与信息技术研究所 | Magnetometer spatial attitude calibration method and system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0756179A2 (en) * | 1995-07-26 | 1997-01-29 | AT&T IPM Corp. | System and method for calibrating multi-axial measurement devices in the presence of a uniform field |
| CN101251584A (en) * | 2008-04-09 | 2008-08-27 | 武汉大学 | Three-axial magnetometer correcting method and three-axial magnetic gradient correcting method |
| CN102589573A (en) * | 2012-02-09 | 2012-07-18 | 黑龙江省博凯科技开发有限公司 | Sensor field calibration method in miniature integrated navigation system |
| 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 |
| CN104459828A (en) * | 2014-12-08 | 2015-03-25 | 中国人民解放军国防科学技术大学 | Geomagnetism vector system non-alignment correction method based on axis rotating method |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| CN106125026A (en) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | A kind of three axis magnetometer total error parameter identification not relying on field, earth's magnetic field amount and bearing calibration |
| CN106289243A (en) * | 2016-08-03 | 2017-01-04 | 上海乐相科技有限公司 | A kind of magnetometer automatic calibrating method and system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9677889B2 (en) * | 2012-06-21 | 2017-06-13 | Innovative Solutions & Support, Inc. | Method and system for compensating for soft iron magnetic disturbances in multiple heading reference systems |
| US20170123035A1 (en) * | 2015-10-29 | 2017-05-04 | Kespry, Inc. | Autonomous magnetometer calibration |
-
2017
- 2017-05-22 CN CN201710362481.4A patent/CN107024673B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0756179A2 (en) * | 1995-07-26 | 1997-01-29 | AT&T IPM Corp. | System and method for calibrating multi-axial measurement devices in the presence of a uniform field |
| CN101251584A (en) * | 2008-04-09 | 2008-08-27 | 武汉大学 | Three-axial magnetometer correcting method and three-axial magnetic gradient correcting method |
| CN102589573A (en) * | 2012-02-09 | 2012-07-18 | 黑龙江省博凯科技开发有限公司 | Sensor field calibration method in miniature integrated navigation system |
| 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 |
| CN104459828A (en) * | 2014-12-08 | 2015-03-25 | 中国人民解放军国防科学技术大学 | Geomagnetism vector system non-alignment correction method based on axis rotating method |
| CN105180968A (en) * | 2015-09-02 | 2015-12-23 | 北京天航华创科技股份有限公司 | IMU/magnetometer installation misalignment angle online filter calibration method |
| CN106125026A (en) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | A kind of three axis magnetometer total error parameter identification not relying on field, earth's magnetic field amount and bearing calibration |
| CN106289243A (en) * | 2016-08-03 | 2017-01-04 | 上海乐相科技有限公司 | A kind of magnetometer automatic calibrating method and system |
Non-Patent Citations (1)
| Title |
|---|
| Extended Kalman Filter-Based Gyroscope-Aided Magnetometer Calibration for Consumer Electronic Devices;Ke Han 等;《IEEE SENSORS JOURNAL》;20170101;第17卷(第1期);第63-71页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107024673A (en) | 2017-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107024673B (en) | Three axis magnetometer total error scaling method based on gyroscope auxiliary | |
| EP3006896B1 (en) | Three-axis digital compass | |
| CN105806364B (en) | A kind of calibration method of mining slewing drilling machine inclinometer probe | |
| US6836971B1 (en) | System for using a 2-axis magnetic sensor for a 3-axis compass solution | |
| CN102818564B (en) | Calibration method of three-dimensional electronic compass | |
| CN102853760B (en) | Method for calibrating verticality of magnetic shaft of three-shaft magnetic sensor | |
| CN104459828B (en) | Based on the non-aligned bearing calibration of earth magnetism vector system around method of principal axes | |
| CN102879832B (en) | Non-alignment error correction method used for geomagnetic element measuring system | |
| CN108458714B (en) | Euler angle solving method without gravity acceleration in attitude detection system | |
| CN104316037B (en) | A kind of bearing calibration of electronic compass and device | |
| CN106482746B (en) | Lever arm calibration and compensation method in a kind of accelerometer for hybrid inertial navigation system | |
| CN110108300B (en) | IMU regular hexahedron calibration method based on horizontal three-axis turntable | |
| KR20040013439A (en) | Attitude error compensation system of fluxgate and method thereof | |
| CN111780786A (en) | Online calibration method for three-axis TMR sensor | |
| CN107121707A (en) | A kind of error calibration method of magnetic sensor measuring basis and structure benchmark | |
| CN107390155B (en) | Magnetic sensor calibration device and method | |
| CN110361031A (en) | A kind of IMU population parameter error quick calibrating method theoretical based on backtracking | |
| CN109059960B (en) | Calibration method of three-dimensional electronic compass | |
| CN108458728A (en) | A kind of Magnetic Sensor on-line calibration method for unmanned plane | |
| Poulose et al. | Indoor localization with smartphones: Magnetometer calibration | |
| CN104567936A (en) | Parameter calibration method of triaxially oblique configuration inertia measurement device | |
| CN108871301A (en) | Magnetic field orientation measurement method | |
| CN110030991B (en) | High-speed rotation angle movement measuring method for flyer integrating gyroscope and magnetometer | |
| CN102121375B (en) | Method for processing digital signal of high-temperature detector bar of continuous inclinometer | |
| CN104792339B (en) | The calibration method of optic fiber gyroscope inclinometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | 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 |