CN107861083B - A kind of magnetometer calibration method and apparatus - Google Patents
A kind of magnetometer calibration method and apparatus Download PDFInfo
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- CN107861083B CN107861083B CN201711090102.7A CN201711090102A CN107861083B CN 107861083 B CN107861083 B CN 107861083B CN 201711090102 A CN201711090102 A CN 201711090102A CN 107861083 B CN107861083 B CN 107861083B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
- G01R33/0035—Calibration of single magnetic sensors, e.g. integrated calibration
Abstract
The invention discloses a kind of magnetometer calibration methods, this method comprises: magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength, and the magnetic induction line direction in the one-dimensional magnetic field is placed in parallel respectively by the positive negative direction of each axis of three axis of the magnetometer；Obtain the magnetometer corresponding output valve in every kind of placement direction；According to the field strength values of the magnetometer corresponding output valve and the one-dimensional magnetic field in every kind of placement direction, the calibration parameter of the magnetometer is calculated, to complete the calibration to the magnetometer.Magnetometer chip-scale calibration program of the invention realizes ambient stable, and the standard parameter of calibration is comprehensively and calibration effect is accurate, can eliminate magnetometer instrument error itself, realize the calibration of magnetometer chip-scale.
Description
Technical field
The present invention relates to magnetic alignment fields, and in particular to a kind of magnetometer calibration method and apparatus.
Background technique
Previous magnetometer calibration is all plane calibration method or eight word calibration methods, by the soft magnetism effect in environment and firmly
Magnetic effect eliminates, but above-mentioned calibration method is a kind of environment calibration method, after changing a new environment, and needs weight
New calibration, and the accuracy calibrated is built upon under the premise of thinking that magnetometer output data is accurate, then magnetometer exports number
According to whether accurate this can not just judge.
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the magnetometer calibration method and apparatus of problem.
According to an aspect of the invention, there is provided a kind of magnetometer calibration method, this method comprises:
Magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength, and by the every of three axis of the magnetometer
The positive negative direction of a axis respectively place in parallel by the magnetic induction line direction in the one-dimensional magnetic field；
Obtain the magnetometer corresponding output valve in every kind of placement direction；
According to the field strength values of the magnetometer corresponding output valve and the one-dimensional magnetic field in every kind of placement direction,
The calibration parameter of the magnetometer is calculated, to complete the calibration to the magnetometer.
Optionally, described that magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength, and by the magnetic force
Counting the positive negative direction of each axis of three axis, the magnetic induction line direction in the parallel one-dimensional magnetic field places and includes: respectively
Magnetometer to be calibrated is put into the bosom of a uniaxial hot-wire coil, and by three axis of the magnetometer
The magnetic induction line direction of the positive negative direction parallel hot-wire coil respectively of each axis place, the axis center of the hot-wire coil
Field strength values are far longer than the mean intensity in earth magnetic field.
Optionally, acquisition magnetometer corresponding output valve in every kind of placement direction includes:
The X-axis positive direction of the magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis positive direction, Z axis are born
The magnetic induction line direction of the hot-wire coil is placed in parallel respectively in direction；
The magnetometer is connected by connection with external display end, reads the magnetometer in every kind of placement direction
When corresponding three axis output valve.
Optionally, it is described according to the magnetometer in every kind of placement direction corresponding output valve and the one-dimensional magnetic field
Field strength values, the calibration parameter for calculating the magnetometer include:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the X-axis of the magnetometer, respectively
Magnetic field strength input value in the output valve and the positive negative direction of X-axis of three axis of the magnetometer is substituted into above-mentioned basic parameter side
K is calculated in journeyxx、kyx、kzxAnd the calibration parameter of offset_x；
Similarly, in the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Y-axis of the magnetometer,
The magnetic field strength input value in the output valve and the positive negative direction of Y-axis of three axis of the magnetometer is substituted into above-mentioned basic parameter respectively
K is calculated in equationxy、kyy、kzyAnd the calibration parameter of offset_y；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Z axis of the magnetometer, respectively
Magnetic field strength input value in the output valve and the positive negative direction of Z axis of three axis of the magnetometer is substituted into above-mentioned basic parameter side
K is calculated in journeyxz、kyz、kzzAnd the calibration parameter of offset_z.
Optionally, the field strength values of the axis center of the hot-wire coil are 200GS.
According to another aspect of the present invention, a kind of magnetometer calibration device is provided, which includes:
Placement unit, for magnetometer to be calibrated to be put into the constant one-dimensional magnetic field of magnetic field strength, and by the magnetic
The positive negative direction of each axis of three axis of power meter respectively place in parallel by the magnetic induction line direction in the one-dimensional magnetic field；
Output valve acquiring unit, for obtaining the magnetometer corresponding output valve in every kind of placement direction；
Calibration parameter computing unit, for according to the magnetometer in every kind of placement direction corresponding output valve and described
The field strength values in one-dimensional magnetic field calculate the calibration parameter of the magnetometer, to complete the calibration to the magnetometer.
Optionally, the placement unit is specifically used for, and magnetometer to be calibrated is put into a uniaxial hot-wire coil
Bosom, and by the magnetic induction line side of the positive negative direction of each axis of three axis of the magnetometer parallel hot-wire coil respectively
To placement, the field strength values of the axis center of the hot-wire coil are far longer than the mean intensity in earth magnetic field.
Optionally, the output valve acquiring unit is specifically used for,
The X-axis positive direction of the magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis positive direction, Z axis are born
The magnetic induction line direction of the hot-wire coil is placed in parallel respectively in direction；
The magnetometer is connected by connection with external display end, reads the magnetometer in every kind of placement direction
When corresponding three axis output valve.
Optionally, the calibration parameter computing unit is specifically used for,
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the X-axis of the magnetometer, respectively
Magnetic field strength input value in the output valve and the positive negative direction of X-axis of three axis of the magnetometer is substituted into above-mentioned basic parameter side
K is calculated in journeyxx、kyx、kzxAnd the calibration parameter of offset_x；
Similarly, in the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Y-axis of the magnetometer,
The magnetic field strength input value in the output valve and the positive negative direction of Y-axis of three axis of the magnetometer is substituted into above-mentioned basic parameter respectively
K is calculated in equationxy、kyy、kzyAnd the calibration parameter of offset_y；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Z axis of the magnetometer, respectively
Magnetic field strength input value in the output valve and the positive negative direction of Z axis of three axis of the magnetometer is substituted into above-mentioned basic parameter side
K is calculated in journeyxz、kyz、kzzAnd the calibration parameter of offset_z.
Optionally, the field strength values of the axis center of the hot-wire coil are 200GS.
The beneficial effects of the present invention are:
The technical scheme is that magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength, and by institute
The magnetic induction line direction for stating the parallel one-dimensional magnetic field of positive negative direction difference of each axis of three axis of magnetometer is placed, described in acquisition
Magnetometer corresponding output valve in every kind of placement direction, it is then corresponding defeated in every kind of placement direction according to the magnetometer
It is worth the field strength values with the one-dimensional magnetic field out, calculates the calibration parameter of the magnetometer, completes to the magnetometer
Calibration.Magnetometer chip-scale calibration program of the invention realizes ambient stable, and the standard parameter of calibration is comprehensively and calibration effect is quasi-
Really, magnetometer instrument error itself can be eliminated, realizes the calibration of magnetometer chip-scale.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for magnetometer calibration method that one embodiment of the present of invention provides；
Fig. 2 is a kind of functional schematic for magnetometer calibration device that one embodiment of the present of invention provides；
Fig. 3 is the structure that the magnetometer X-axis positive direction that one embodiment of the present of invention provides is placed along magnetic induction line direction
Figure.
Specific embodiment
Inventor expects a kind of magnetometer calibration method, i.e., magnetometer to be calibrated is put into constant one-dimensional of magnetic field strength
In magnetic field, and by the magnetic induction line direction in the positive negative direction of each axis of three axis of the magnetometer parallel one-dimensional magnetic field respectively
It places；Obtain the magnetometer corresponding output valve in every kind of placement direction；According to the magnetometer in every kind of placement direction
When corresponding output valve and the one-dimensional magnetic field field strength values, the calibration parameter of the magnetometer is calculated, to complete to institute
State the calibration of magnetometer.Magnetometer calibration scheme of the invention realizes ambient stable, and the standard parameter of calibration is comprehensively and calibration is imitated
Fruit is accurate, can eliminate magnetometer instrument error itself, realizes the calibration of magnetometer chip-scale.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of magnetometer calibration method flow schematic diagram that one embodiment of the present of invention provides, as shown in Figure 1,
This method comprises:
Magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength by step S101, and by magnetometer three
The positive negative direction of each axis of axis respectively place in parallel by the magnetic induction line direction in one-dimensional magnetic field.
Wherein, the equipment for generating the constant one-dimensional magnetic field of magnetic field strength can be coil, and the parameter of coil is provided by manufacturer.
In a preferred embodiment of the invention, the magnetic field strength that can produce when the coil of selection is powered is 200GS, and the earth
The mean intensity in magnetic field is 0.4~0.6GS, and the magnetic field generated relative to equipment is one a small amount of, one can consider that the energization
The magnetic field value that coil provides is constant 200GS.
Step S101 is specifically as follows: magnetometer to be calibrated is put into the bosom of a uniaxial hot-wire coil,
And the magnetic induction line direction that the positive negative direction of each axis of three axis of magnetometer distinguishes parallel hot-wire coil is placed, the hot-wire coil
The field strength values of axis center be far longer than the mean intensity in earth magnetic field.
The basic theories basis for generating one-dimensional magnetic field, is the magnetic induction line side that hot-wire coil is judged according to right-hand rule
To, such as: magnetic induction line is by N-S in coil outer, is to have S-N in coil inside, our regions to be paid close attention to are exactly in coil
Portion is by the parallel lines at the end S to N-terminal.
Step S102 obtains magnetometer corresponding output valve in every kind of placement direction.
Coil due to generating the constant one-dimensional magnetic field of magnetic field strength is motionless, so magnetometer can be placed on line by us
Bosom is enclosed, is communicated with the outside and is connect by USB, the output valve of magnetometer all directions can be obtained.
Step S102 is specifically as follows: by the X-axis positive direction of magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction,
It places in the magnetic induction line direction that Z axis positive direction, Z axis negative direction distinguish parallel hot-wire coil；Magnetometer is passed through into connection and outside
Display end is connected, and the output valve of magnetometer corresponding three axis in every kind of placement direction is read, to obtain three axis
The data that magnetometer generates.
For example, magnetic induction line direction represents magnetic by S to N, rectangular coordinate system as shown in figure 3, magnetometer is put into coil inside
Three axis of power meter are the case where X-axis positive direction is along magnetic induction line direction when according to placing shown in Fig. 3.According to X shown in Fig. 3
The case where axis positive direction is placed along magnetic induction line direction, it is respectively that X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis is square
It is placed to, Z axis negative direction along magnetic induction line direction, passes through USB interface, read output of the magnetometer in every kind of placement direction
Value.
Step S103, according to the magnetic field strength of magnetometer corresponding output valve and one-dimensional magnetic field in every kind of placement direction
Value, calculates the calibration parameter of magnetometer, to complete the calibration to magnetometer.
Step S103 is specifically as follows:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the X-axis of magnetometer, respectively by institute
It states the magnetic field strength input value in the output valve and the positive negative direction of X-axis of three axis of magnetometer and substitutes into above-mentioned fundamental parameter equations, meter
Calculation obtains kxx、kyx、kzxAnd the calibration parameter of offset_x；
Similarly, in the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Y-axis of magnetometer, respectively
Magnetic field strength input value in the output valve and the positive negative direction of Y-axis of three axis of the magnetometer is substituted into above-mentioned basic parameter side
K is calculated in journeyxy、kyy、kzyAnd the calibration parameter of offset_y；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Z axis of magnetometer, respectively by institute
It states the magnetic field strength input value in the output valve and the positive negative direction of Z axis of three axis of magnetometer and substitutes into above-mentioned fundamental parameter equations, meter
Calculation obtains kxz、kyz、kzzAnd the calibration parameter of offset_z.
The embodiment of the present invention is put into magnetometer to be calibrated in uniaxial hot-wire coil, and by three axis of magnetometer
Each axis positive negative direction distinguish parallel hot-wire coil magnetic induction line direction place, pass through the right-hand rule base of electric magnetisation
Present principles, available one stabilizing magnetic field relative to big hundred times of earth's magnetic field, and magnetic induction line direction is parallel in this magnetic field, this
Environment is provided for our chip-scale magnetometer calibrations；And the embodiment of the present invention can be calibrated including magnetometer axes auto-correlation
Calibration factor, cross-correlation calibration factor, 12 calibration factors such as zero bias can cover most possible factors, imitate calibration
Fruit is more accurate.It follows that magnetometer chip-scale calibration program of the invention can eliminate magnetometer instrument error itself, it is real
Existing ambient stable, the standard parameter of calibration is comprehensively and calibration effect is accurately, it can be achieved that the calibration of magnetometer chip-scale.
We select the uniaxial hot-wire coil for generating 200GS field strength values below, with the positive negative direction of the X-axis of magnetometer point
The magnetic induction line direction of not parallel hot-wire coil is illustrated for placing.
The magnetic field strength input value in the output valve and the positive negative direction of X-axis of three axis of magnetometer is substituted into respectively above-mentioned basic
Parametric equation obtains following equation,
Above-mentioned equation is handled, k is obtainedxx、kyx、kzxAnd the calibration parameter of offset_x:
Similarly, according to the method described above, make respectively the positive negative direction of Y-axis along magnetic induction line direction, Z axis positive negative direction along
Magnetic induction line direction is placed, and all basic calibration parameters of magnetometer can be acquired, and completes the calibration to magnetometer.
Fig. 2 is a kind of magnetometer calibration apparatus function figure that one embodiment of the present of invention provides, if Fig. 2 shows, the device
200 include:
Placement unit 201, for magnetometer to be calibrated to be put into the constant one-dimensional magnetic field of magnetic field strength, and by magnetic force
Count the positive negative direction magnetic induction line direction placement in one-dimensional magnetic field in parallel respectively of each axis of three axis；
Output valve acquiring unit 202, for obtaining magnetometer corresponding output valve in every kind of placement direction；
Calibration parameter computing unit 203, for according to magnetometer in every kind of placement direction corresponding output valve and one-dimensional
The field strength values in magnetic field calculate the calibration parameter of magnetometer, to complete the calibration to magnetometer.
In one embodiment of the invention, placement unit 201 is specifically used for, and magnetometer to be calibrated is put into a list
The bosom of the hot-wire coil of axis, and the positive negative direction of each axis of three axis of magnetometer is distinguished to the magnetic of parallel hot-wire coil
Feel line direction to place, the field strength values of the axis center of hot-wire coil are far longer than the mean intensity in earth magnetic field.
In one embodiment of the invention, output valve acquiring unit 201 is specifically used for,
By the X-axis positive direction of magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis positive direction, Z axis negative direction
The magnetic induction line direction of parallel hot-wire coil is placed respectively；
Magnetometer is connected by connection with external display end, it is respectively right in every kind of placement direction to read magnetometer
The output valve for three axis answered.
In one embodiment of the invention, calibration parameter computing unit 203 is specifically used for,
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
When the magnetic induction line direction that the positive negative direction of the X-axis of magnetometer distinguishes parallel hot-wire coil is placed, respectively by magnetometer
Magnetic field strength input value in the output valve and the positive negative direction of X-axis of three axis substitutes into above-mentioned fundamental parameter equations, and k is calculatedxx、
kyx、kzxAnd the calibration parameter of offset_x；
Similarly, when the magnetic induction line direction that the positive negative direction of the Y-axis of magnetometer distinguishes parallel hot-wire coil is placed, respectively by magnetic
Magnetic field strength input value in the output valve and the positive negative direction of Y-axis of three axis of power meter substitutes into above-mentioned fundamental parameter equations, calculates
To kxy、kyy、kzyAnd the calibration parameter of offset_y；
When the magnetic induction line direction that the positive negative direction of the Z axis of magnetometer distinguishes parallel hot-wire coil is placed, respectively by magnetometer
Magnetic field strength input value in the output valve and the positive negative direction of Z axis of three axis substitutes into above-mentioned fundamental parameter equations, and k is calculatedxz、
kyz、kzzAnd the calibration parameter of offset_z.
In one embodiment of the invention, the field strength values of the axis center of hot-wire coil are 200GS.
In conclusion the technical scheme is that, magnetometer is put into the constant one-dimensional magnetic field of magnetic field strength, and by magnetic
The positive negative direction of each axis of three axis of power meter respectively place in parallel by the magnetic induction line direction in one-dimensional magnetic field, is existed by obtaining magnetometer
Corresponding output valve when every kind of placement direction, then according to magnetometer in every kind of placement direction corresponding output valve and One-Dimension Magnetic
The field strength values of field, calculate the calibration parameter of magnetometer, to complete the calibration to magnetometer.Due to magnetometer school of the invention
Quasi-project realizes ambient stable, and the standard parameter of calibration is comprehensively and calibration effect is accurate, so as to eliminate magnetometer instrument itself
Device error realizes the calibration of magnetometer chip-scale.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (8)
1. a kind of magnetometer calibration method, which is characterized in that this method comprises:
Magnetometer to be calibrated is put into the constant one-dimensional magnetic field of magnetic field strength, and by each axis of three axis of the magnetometer
The magnetic induction line direction in the positive negative direction parallel one-dimensional magnetic field respectively place；
Obtain the magnetometer corresponding output valve in every kind of placement direction；
According to the field strength values of the magnetometer corresponding output valve and the one-dimensional magnetic field in every kind of placement direction, calculate
The calibration parameter of the magnetometer, to complete the calibration to the magnetometer；
The constant one-dimensional magnetic field of magnetic field strength is generated by hot-wire coil；
It is described according to the magnetometer in every kind of placement direction corresponding output valve and the one-dimensional magnetic field field strength values,
The calibration parameter for calculating the magnetometer includes:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is the output of magnetometer z-axis
Value, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis, kxxIt is
It is fixed when x-axis inputs, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input is fixed, x-axis y-axis cross sensitivity corrects
Coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input is fixed, y-axis x-axis is intersected
Sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is as y-axis input fixation, y
Axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is to work as z-axis
Input is fixed, z-axis y-axis cross sensitivity correction coefficient, kzzIt is to be fixed when z-axis inputs, z-axis auto-correlation sensitivity correction coefficient,
Offset_x is the zero bias value of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the X-axis of the magnetometer, respectively by institute
The field strength values stated in the output valve and the positive negative direction of X-axis of three axis of magnetometer substitute into above-mentioned fundamental parameter equations, calculate
To kxx、kyx、kzxAnd the calibration parameter of offset_x；
Similarly, in the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Y-axis of the magnetometer, respectively
Field strength values in the output valve and the positive negative direction of Y-axis of three axis of the magnetometer are substituted into above-mentioned fundamental parameter equations, meter
Calculation obtains kxy、kyy、kzyAnd the calibration parameter of offset_y；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Z axis of the magnetometer, respectively by institute
The field strength values stated in the output valve and the positive negative direction of Z axis of three axis of magnetometer substitute into above-mentioned fundamental parameter equations, calculate
To kxz、kyz、kzzAnd the calibration parameter of offset_z.
2. the method as described in claim 1, which is characterized in that described that magnetometer to be calibrated is put into magnetic field strength is constant
In one-dimensional magnetic field, and by the magnetic induction line in the positive negative direction of each axis of three axis of the magnetometer parallel one-dimensional magnetic field respectively
It places in direction
Magnetometer to be calibrated is put into the bosom of a uniaxial hot-wire coil, and by the every of three axis of the magnetometer
The positive negative direction of a axis respectively place in parallel by the magnetic induction line direction of the hot-wire coil, the magnetic field of the axis center of the hot-wire coil
Intensity value is far longer than the mean intensity in earth magnetic field.
3. method according to claim 2, which is characterized in that the acquisition magnetometer is corresponding in every kind of placement direction
Output valve include:
By the X-axis positive direction of the magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis positive direction, Z axis negative direction
The magnetic induction line direction of the parallel hot-wire coil is placed respectively；
The magnetometer is connected by connection with external display end, it is each in every kind of placement direction to read the magnetometer
The output valve of self-corresponding three axis.
4. method according to claim 2, which is characterized in that the field strength values of the axis center of the hot-wire coil are
200GS。
5. a kind of magnetometer calibration device, which is characterized in that the device includes:
Placement unit, for magnetometer to be calibrated to be put into the constant one-dimensional magnetic field of magnetic field strength, and by the magnetometer
The positive negative direction of each axis of three axis respectively place in parallel by the magnetic induction line direction in the one-dimensional magnetic field；
Output valve acquiring unit, for obtaining the magnetometer corresponding output valve in every kind of placement direction；
Calibration parameter computing unit, for according to the magnetometer in every kind of placement direction corresponding output valve and described one-dimensional
The field strength values in magnetic field calculate the calibration parameter of the magnetometer, to complete the calibration to the magnetometer；
The constant one-dimensional magnetic field of magnetic field strength is generated by hot-wire coil；
The calibration parameter computing unit is specifically used for, the fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is the output of magnetometer z-axis
Value, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis, kxxIt is
It is fixed when x-axis inputs, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input is fixed, x-axis y-axis cross sensitivity corrects
Coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input is fixed, y-axis x-axis is intersected
Sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is as y-axis input fixation, y
Axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is to work as z-axis
Input is fixed, z-axis y-axis cross sensitivity correction coefficient, kzzIt is to be fixed when z-axis inputs, z-axis auto-correlation sensitivity correction coefficient,
Offset_x is the zero bias value of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the X-axis of the magnetometer, respectively by institute
The field strength values stated in the output valve and the positive negative direction of X-axis of three axis of magnetometer substitute into above-mentioned fundamental parameter equations, calculate
To kxx、kyx、kzxAnd the calibration parameter of offset_x；
Similarly, in the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Y-axis of the magnetometer, respectively
Field strength values in the output valve and the positive negative direction of Y-axis of three axis of the magnetometer are substituted into above-mentioned fundamental parameter equations, meter
Calculation obtains kxy、kyy、kzyAnd the calibration parameter of offset_y；
In the magnetic induction line direction placement of the parallel hot-wire coil respectively of the positive negative direction of the Z axis of the magnetometer, respectively by institute
The field strength values stated in the output valve and the positive negative direction of Z axis of three axis of magnetometer substitute into above-mentioned fundamental parameter equations, calculate
To kxz、kyz、kzzAnd the calibration parameter of offset_z.
6. device as claimed in claim 5, which is characterized in that the placement unit is specifically used for, by magnetometer to be calibrated
It is put into the bosom of a uniaxial hot-wire coil, and the positive negative direction of each axis of three axis of the magnetometer is put down respectively
The magnetic induction line direction of the row hot-wire coil is placed, and the field strength values of the axis center of the hot-wire coil are far longer than earth magnetic
The mean intensity of field.
7. device as claimed in claim 6, which is characterized in that the output valve acquiring unit is specifically used for,
By the X-axis positive direction of the magnetometer, X-axis negative direction, Y-axis positive direction, Y-axis negative direction, Z axis positive direction, Z axis negative direction
The magnetic induction line direction of the parallel hot-wire coil is placed respectively；
The magnetometer is connected by connection with external display end, it is each in every kind of placement direction to read the magnetometer
The output valve of self-corresponding three axis.
8. device as claimed in claim 6, which is characterized in that the field strength values of the axis center of the hot-wire coil are
200GS。
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