CN108151765A - Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error - Google Patents
Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error Download PDFInfo
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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Abstract
The invention discloses a kind of positioning of online real-time estimation compensation magnetometer error to survey attitude positioning method, and the technical problems to be solved by the invention are：For in GNSS/MINS integrated navigation systems, when GNSS signal is interrupted, the problem of MINS course information rapid divergences, the attitude information that integrated navigation system provides during by using GNSS observations in order carrys out the real-time calibration to magnetometer and external disturbance magnetic strength, INS is assisted to navigate so as to improve system navigation accuracy using magnetometer information when GNSS signal is interrupted.
Description
Technical field
The present invention relates to GNSS/MINS (Global Navigation Satellite System/Micro Inertial
Navigation System) integrated navigation system positioning survey appearance problem more particularly to utilize GNSS/MINS integrated navigations
The attitude information that system resolves is as a reference to demarcate the error of magnetometer so as to improve the GNSS/MINS when GNSS signal is interrupted
The method that appearance precision is surveyed in the positioning of integrated navigation system.
Background technology
GNSS has the advantage of global, quick, round-the-clock positioning, is the most widely used positioning side of current positioning field
Formula, application field covers the every field such as navigation, space flight, automobile navigation, however high building stands in great numbers in modern city, grade separation
Bridge, tunnel, landscape tree etc. lead to a large amount of signal multi-path jammings to GNSS signal serious shielding.In addition it is various logical in city
Believe that presence, the electromagnetic environment of facility are extremely severe, various interference consciously or unconsciously bring GNSS receiver signal reception
Great challenge.Angular speed that INS is provided using gyro and accelerometer and than force information come resolve the position of carrier, speed,
The information such as posture not by external interference, are influenced however, as by the accumulation of error, lead to navigator fix calculation accuracy at any time
Diverging.GNSS and INS has good complementarity, and the combination of the two is capable of providing compared to triangular web more accurately, reliably
Navigator fix result.In GNSS/INS integrated navigations, GNSS provides the fresh information that inertial navigation needs, so as to inhibit inertial navigation information
Diverging, as GNSS because signal is blocked or interferes and when interrupting, inertial navigation remains to work on to increase system
Reliability and robustness.
The combination application mode of satellite navigation system (GNSS) and inertial navigation system (INS) can greatly improve existing
The availability of navigation system effectively enhances military equipment dynamic property and antijamming capability.At present, GNSS/INS integrated navigations system
System has been obtained for some applications, especially in military field.Due to composition INS inertial sensor it is generally more expensive, also because
This limits the application range of GNSS/INS technologies.For military equipment, high-performance, the airmanship of low cost are in vehicle
, multiple application fields such as aircraft, naval vessel, guided missile, Information Ammunition, micro-satellite there is very urgent demand, to realize
High reliability, high anti-jamming capacity and the precision guidance capability of system.
With the development of semiconductor integrated circuit micrometer-nanometer processing technology and ultraprecise mechanical manufacturing technology, MEMS
(Micro-Electrical-Mechanical System) sensor has obtained vigorous growth.MEMS IMU have volume
The advantages that small, light-weight, low in energy consumption, inexpensive.So as to make inertial navigation technology gradually enter it is civilian as vehicle mounted guidance, nobody
Machine navigator fix determines the fields such as appearance.The appearance of MINS technologies becomes the extensive use of inexpensive GNSS/INS combination techniques can
Energy.
MINS has many advantages, such as small, light-weight, low in energy consumption, limitation and sensing however, as process for machining and manufacturing
The influence of device noise itself can cause to include larger error in navigation results.In GNSS/MINS integrated navigation systems, when
When GNSS system can not work due to block or interfering, MINS errors can be dissipated with faster speed, such as the zero of gyro
Inclined error can lead to the first power diverging of attitude angle temporally, and then lead to the quadratic power diverging of velocity error temporally, finally
Lead to the cube diverging of location information temporally.Therefore must be pressed down during GNSS signal interruption by certain method
The diverging of inertial navigation navigation information processed, has been generally integrated magnetometer at present in MINS systems, geomagnetic field information is usually steadily distributed
In the earth everywhere, it the ground magnetic strength information that is obtained using magnetometer survey and carries out appropriate Correction of Errors and can obtain carrier
Sail information, therefore can be improved in GNSS signal by adding in magnetometer information in GNSS/MINS integrated navigation systems
Appearance precision is surveyed in the positioning of system when disconnected.
Using magnetometer come to obtain the premise in course be that earth's magnetic field where magnetometer is not interfered by outside, but in reality
In the vehicle mounted guidance application on border, magnetometer can be influenced by the interference magnetic field that the metal structure of vehicle generates, typically, vehicle
The direction in the interference magnetic field that structure generates is changeless relative to the direction of car body, in the vehicle mounted guidance application of reality
In, since MEMS INS and car body are connected, projection of the interference magnetic field in MEMS INS coordinate systems is also to fix not
Become, so that interference magnetic field is eliminated and is possibly realized.In addition to error caused by interference magnetic field, due to the limit of manufacturing process
System, for magnetometer in itself there are error, deterministic error includes zero bias, scale factor, quadrature axis coupling.It is led in GNSS/INS combinations
During boat, the attitude information under geographic coordinate system of carrier can be got in real time, while can also obtain magnetometer
Output, therefore magnetometer error can be demarcated using the absolute pose information of carrier, when GNSS signal is interrupted for a long time
When, it can be using the magnetometer information after calibration come the course information of Assisted Combinatorial navigation system, so as to inhibit
The rapid divergence of inertial navigation information is so as to improve the precision that appearance is surveyed in positioning.
Invention content
The technical problems to be solved by the invention are：For in GNSS/MINS integrated navigation systems, GNSS signal is interrupted
When, the problem of MINS course information rapid divergences, integrated navigation system provides during by using GNSS observations in order appearance
State information carrys out the real-time calibration to magnetometer and external disturbance magnetic strength, when GNSS signal is interrupted using magnetometer information come auxiliary
INS is helped to navigate so as to improve system navigation accuracy.
The main contents of the present invention are as follows：
Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error, is included the following steps：
Step 1：GNSS/MINS integrated navigation systems are initialized first, initialization include position and posture at the beginning of
Beginningization；
Step 2：The estimation required data of magnetometer error are recorded during real-time navigation, it is real-time defeated including magnetometer
Go out the theoretical output valve with magnetometer；
Step 3：The real-time output of the magnetometer recorded according to step 2 and the theoretical output valve of magnetometer pass through least square
Method calculates the error of magnetometer in real time, and the error of the magnetometer includes magnetometer zero bias, scale factor and quadrature axis coupling
Close error；
Step 4：It is first defeated with the error compensation magnetometer for the magnetometer being calculated in step 3 when GNSS signal is interrupted
Go out, recycle the course of magnetometer information Assisted Combinatorial navigation system after compensation.
Wherein, the method for step 2 is as follows：
Set the mathematical model of magnetometer as：
Or：
In formula, Metzler matrix represents the error matrix of magnetometer, and wherein diagonal entry corresponds to the scale factor mistake of magnetometer
Difference, off diagonal element represent the quadrature axis coupling error of magnetometer, bmiRepresent the zero offset error of magnetometer i axis, i=x, y, z；
The attitude information of a certain moment carrier is set as [φ1 θ1 ψ1], then in the theoretical value table of moment magnetometer output
It is shown as：
Wherein, m1' represent the theoretical output valve for working as projection of the earth's magnetic field in b systems, i.e. magnetometer, mbx1,mby1,mbz1According to
The secondary component for representing local magnetic field on magnetometer x, y, z,For the direction cosine matrix of carrier coordinate system to navigational coordinate system,
C θ, c φ, c ψ represent the cosine value of roll angle, pitch angle and course angle successively, s θ, s φ, s ψ represent successively roll, pitching with
And the sine value of course angle, mnFor earth's magnetic field navigational coordinate system projection；
Obtain the theoretical value of multigroup magnetometer output：
Record the corresponding [φ of carrier simultaneouslyi θi ψi] angle when magnetometer reality output, form sight as follows
Survey matrix ui:
Wherein mxi,myi,mziMagnetometer x, y, the output of z-axis, the mutually independent magnetometer reality output of i groups are represented successively
It is denoted as：
Wherein, the error for calculating magnetometer in step 3 in real time by least square method is specially：
The real-time output of magnetometer recorded according to step 2 and the theoretical output valve of magnetometer, build least square is
Matrix number is as follows：
The observing matrix of least square, it is as follows：
U=[u1 u2 ... ui]；
Error matrix is calculated by least square method：
M=UAT·(AAT)-1；
Calculate the error of magnetometer in real time according to error matrix.
Wherein, step 4 is specially：
When GNSS signal is interrupted, exported first with the magnetometer error compensation magnetometer being calculated in step 3, then
Course information is calculated with the magnetometer output after compensation, course information circular is as follows：
Wherein,
θ, φ are respectively the real-time roll angle of carrier and pitch angle；ψmagFor the carrier being calculated using magnetometer output
Course information, γmTo work as geomagnetic declination, value combination latitude information inspection information obtains；Mx,My,MzRespectively through overcompensation
The X of magnetometer output afterwards, Y, the output of Z axis.
The course information calculated using magnetometer and inertial navigation, which is weighted, averagely obtains the higher course information of precision, calculates
Method is as follows：
Wherein ψintFor the obtained course value calculated after being combined using the course value of magnetometer and inertial navigation calculating, ψins
For the course information that inertial navigation calculates, and ψmagFor the course information that magnetometer calculates, σins、σmagIt is calculated for inertial navigation and magnetometer
The variance in the course arrived.
This method realizes the real-time online calibration of magnetometer, by using GNSS signal it is good when high-precision posture believe
Breath demarcates the original of magnetometer as reference value, can effectively improve the efficiency of real-time navigation.
Description of the drawings
Fig. 1 is magnetic strength meter calibrating and the initial alignment procedures schematic diagram of auxiliary.
Specific embodiment
With reference to specific embodiments and the drawings, the present invention will be further described：
Step 1：It is initially aligned first before vehicle mounted guidance.In vehicle mounted guidance application, combined navigation receiver and car body
It is connected, GNSS/MINS combined navigation receivers is initially aligned first before navigation, the initial alignment of position can pass through
Longitude, latitude, the geodetic height information acquisition of GNSS, horizontal attitude information can be calculated by accelerometer, course information
It can be obtained by magnetometer or double antenna.If course information is initially aligned using magnetometer auxiliary MINS postures,
It needs to be corrected magnetometer before alignment, to eliminate the influence in interference magnetic field.
The idiographic flow being initially aligned is as follows：
It remains static, is powered on to GNSS/MINS combined navigation receivers, to integrated navigation 1. navigation starts vehicle in front
Receiver constantly records the output to gyro in INS days in combined navigation receiver after the power is turned on.Vehicle is made to be rotated in open area
One week, even if vehicle course traverses 0~360 °.Judge whether the method that vehicle starts rotation has for output of the detection day to gyro
More than given threshold (such as 10 °/s), it is motor-driven if gyro has more than the output of threshold value to think that vehicle has had begun.Vehicle exists
Constantly record output of the day to gyro while motor-driven, threshold value that output of the same day to gyro is less than setting in continuous 10 seconds (such as 2 °/
H), it is believed that mobility is completed, and is remained static.
If without the interference of external magnetic field, each axis of magnetometer horizontal direction in GNSS/MINS combined navigation receivers
Maximum value and minimum value absolute value should approximately equals.But due to the presence in external interference magnetic field, the horizontal each axis of magnetometer
The absolute value for exporting maximum value and minimum value is usually unequal.
The maximum value that course traverses each axis output of magnetometer X, Y, Z during 0~360 ° is sought out in this step
With minimum M xmax、Mxmin, Mymax、Mymin, Mzmax、Mzmin, exported according to the magnetometer that vehicle records in mobile process
Maximum value and minimum value ask for the corrected value of each axis of magnetometer, and magnetometer X, Y is calculated, and the offset of Z axis is：
2. make stationary vehicle certain period of time (such as 90s) after 0~360 ° of vehicle course traversal, in quiescing process constantly
Record accelerometer X, Y, the output of Z axis.Accelerometer X, Y, the average value f of Z axis output is calculatedx,fy,fz, utilization is following
The roll angle and pitch angle of carrier is calculated in two formulas：
φ=atan2 (fy,fz)
Wherein, fx、fy、fzAccelerometer X in the stationary vehicle period, Y, the average value of Z axis output are represented successively.
3. the offset biasx, biasy, biasz of calculated each axis of magnetometer compensate the defeated of magnetometer
Go out, the magnetometer output after being compensated, compensation method is as follows：
In above formulaIt is followed successively by magnetometer x, y, the original output of z-axis,Magnetic successively
Strong meter x, y, the corrected value of z-axis output.
4. calculating the mean value of the output of the magnetometer after overcompensation, the defeated of accelerometer is constantly recorded in quiescing process
Go out, and ask for the mean value of magnetometer output.X after meter magnetometer is corrected, Y, the mean value of Z axis are followed successively by：The course information of carrier is calculated by following formula：
Wherein,
γmTo be initially directed at local magnetic declination, value can be obtained with reference to latitude information inspection information.
Step 2：It, can according to different application scenarios Kalman filtering algorithms into navigational state after the completion of initial alignment
To select the state vector of different number.The present embodiment selection attitude error (roll, pitching, course), site error (longitude,
Latitude, height), velocity error (east orientation speed, north orientation speed, sky orientation speed), gyro zero bias, accelerometer bias, gyro ratio
The example factor, accelerometer scale factor, receiver clock-offsets, clock float state vector of totally 23 parameters as Kalman filtering.Shape
State vector is as follows：
The ψ in above formulaN,ψE,ψDThe roll of posture, pitching, course error are represented successively；δvN,δvE,δvUNorth is represented successively
To, east orientation, sky orientation speed error；δrN,δrE,δrDLatitude, longitude, vertical error are represented successively；Top is represented successively
Spiral shell X, Y, Z axis zero bias,Represent accelerometer X successively, Y, Z axis zero bias,Gyro X, Y, Z axis are represented successively
Errors of proportional factor；Accelerometer X, Y, Z axis errors of proportional factor are represented successively；δtu,δtruIt is followed successively by receiver
Clock correction and clock drift.
Kalman filtering anabolic process includes predicting and two processes of update.The prediction of prediction process including state vector and
The prediction of covariance matrix, and renewal process includes the update of state vector and the update of covariance matrix, blocks during newer
Kalman Filtering estimated after obtaining the zero bias of each axis of gyro, accelerometer, errors of proportional factor, to gyro, accelerometer
Original output carries out feedback compensation.The attitude information [φ θ ψ] of carrier can be constantly got during navigation, is remembered
The output u of magnetometer under different postures is recorded, constantly sets up the sensor error of least squares equation real-time estimation magnetometer.Structure
When building least square observed quantity, in order to increase the observability of equation, the preferential magnetic chosen posture and differed greatly under scene
Strong meter observed quantity.Such as first group of observed quantity u of the record in least square observational equation1When attitude of carrier be [φ1 θ1 ψ1],
If the course of vehicle, variation records second group of observed quantity u if being more than 5 °2, multi-group data is recorded after the same method for putting down
Difference calculates.If participating in the data of adjustment more than 20 groups, the data recorded at first are rejected, the data of state-of-the-art record are added
Enter, estimated, purpose newer in this way is the newest number that can more accurately reflect when geomagnetic field intensity in order to obtain
According to.
The error of real-time estimation magnetometer, the error of estimated magnetometer include magnetometer zero bias, scale factor and
Quadrature axis coupling error.The mathematical model of wherein magnetometer output can be expressed as：
Or：
In above formula, Metzler matrix represents the error matrix of magnetometer, and wherein diagonal entry corresponds to the scale factor of magnetometer
Error, off diagonal element represent the quadrature axis coupling error of magnetometer, bmiThe zero bias that (i=x, y, z) represents magnetometer i axis are missed
Difference.In sport car test process, when there is GNSS signal, GNSS/MINS integrated navigation systems can accurately determine out carrier
Attitude information, that is, roll φ, pitching θ, course ψ information.Assuming that at a time the attitude information of carrier is [φ1 θ1 ψ1],
The magnetic strength intensity so projected at the moment on magnetometer x, y, z axis can be expressed as：
Carrier different angle [φ is recorded in carrier driving processi θi ψi] when throwing of the earth's magnetic field in magnetometer coordinate system
Shadow, the mutually independent magnetometer observed quantity of i groups are as follows：
Record the corresponding [φ of carrier simultaneouslyi θi ψi] angle when output, form observing matrix u as followsi
Step 3：The error of real-time estimation magnetometer.The coefficient matrix for building least square is as follows：
Observing matrix is as follows：U=[u1 u2 ... ui], can error matrix be calculated by least square method：
M=UAT·(AAT)-1
Step 4：After satellite-signal interruption, Kalman filtering is still being predicted, since magnetic field is compared in the short time
Stablize therefore magnetometer is smaller by the possibility of external interference, the course information calculated using magnetometer is more stable, at this time
Magnetometer and the course information of inertial navigation calculating can be utilized to be weighted and averagely obtain the higher course information of precision.Computational methods
It is as follows：
ψ in above formulainsFor the course information that inertial navigation calculates, and ψmagFor the course information that magnetometer calculates, σins、σmagIt is used
Lead the variance in the course being calculated with magnetometer.
Above step just complete in GNSS/MINS systems using GNSS observation conditions it is good when observation information to magnetic strength
Meter is demarcated, when the weaker process using calibrated magnetometer information auxiliary course of GNSS signal.
Claims (4)
1. attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error, which is characterized in that
Include the following steps：
Step 1：GNSS/MINS integrated navigation systems are initialized first, initialization includes the initialization of position and posture；
Step 2：The estimation required data of magnetometer error are recorded during real-time navigation, real-time output including magnetometer and
The theoretical output valve of magnetometer；
Step 3：The real-time output of the magnetometer recorded according to step 2 and the theoretical output valve of magnetometer pass through least square method
The error of magnetometer is calculated in real time, and the error of the magnetometer includes magnetometer zero bias, scale factor and quadrature axis coupling and misses
Difference；
Step 4：When GNSS signal is interrupted, first exported with the error compensation magnetometer for the magnetometer being calculated in step 3, then
Utilize the course of magnetometer information Assisted Combinatorial navigation system after compensation.
2. attitude positioning method, feature are surveyed in a kind of positioning of online real-time estimation compensation magnetometer error according to claim 1
It is, step 2 is specially：
Set the mathematical model of magnetometer as：
Or：
In formula, Metzler matrix represents the error matrix of magnetometer, and wherein diagonal entry corresponds to the errors of proportional factor of magnetometer, non-
Diagonal entry represents the quadrature axis coupling error of magnetometer, bmiRepresent the zero offset error of magnetometer i axis, i=x, y, z；
The attitude information of a certain moment carrier is set as [φ1 θ1 ψ1], then it is represented in the theoretical value of moment magnetometer output
For：
Wherein, m1' represent the theoretical output valve for working as projection of the earth's magnetic field in b systems, i.e. magnetometer, mbx1,mby1,mbz1It represents successively
When component of the earth's magnetic field on magnetometer x, y, z,For the direction cosine matrix of carrier coordinate system to navigational coordinate system, c θ, c
φ, c ψ represent the cosine value of roll angle, pitch angle and course angle successively, and s θ, s φ, s ψ represent roll, pitching and boat successively
To the sine value at angle, mnFor earth's magnetic field navigational coordinate system projection；
Obtain the theoretical value of multigroup magnetometer output：
Record the corresponding [φ of carrier simultaneouslyi θi ψi] angle when magnetometer reality output, form observation square as follows
Battle array ui:
Wherein mxi,myi,mziRepresent magnetometer x successively, y, the output of z-axis, the mutually independent magnetometer reality output of i groups is denoted as：
3. attitude positioning method, feature are surveyed in a kind of positioning of online real-time estimation compensation magnetometer error according to claim 1
It is, the error for calculating magnetometer in step 3 in real time by least square method is specially：
The real-time output of magnetometer recorded according to step 2 and the theoretical output valve of magnetometer build the coefficient square of least square
Battle array is as follows：
The observing matrix of least square, it is as follows：
U=[u1 u2 ... ui]；
Error matrix is calculated by least square method：
M=UAT·(AAT)-1；
Calculate the error of magnetometer in real time according to error matrix.
4. attitude positioning method, feature are surveyed in a kind of positioning of online real-time estimation compensation magnetometer error according to claim 1
It is, step 4 is specially：
It when GNSS signal is interrupted, is exported first with the magnetometer error compensation magnetometer that is calculated in step 3, then with benefit
Magnetometer output after repaying calculates course information, and course information circular is as follows：
Wherein,
θ, φ are respectively the real-time roll angle of carrier and pitch angle；ψmagFor the boat of carrier being calculated using magnetometer output
To information, γmTo work as geomagnetic declination, value combination latitude information inspection information obtains；Mx,My,MzRespectively after overcompensation
The X of magnetometer output, Y, the output of Z axis；
The course information calculated using magnetometer and inertial navigation, which is weighted, averagely obtains the higher course information of precision, computational methods
It is as follows：
Wherein ψintFor the obtained course value calculated after being combined using the course value of magnetometer and inertial navigation calculating, ψinsIt is used
Lead the course information of calculating, and ψmagFor the course information that magnetometer calculates, σins、σmagIt is calculated for inertial navigation and magnetometer
The variance in course.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109959392A (en) * | 2019-04-04 | 2019-07-02 | 上海扩博智能技术有限公司 | Motion sensor calibration method, system, equipment and medium for intelligent refrigerator |
| CN112147924A (en) * | 2020-08-27 | 2020-12-29 | 航天东方红卫星有限公司 | High-precision program-controlled task management system |
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| CN113670334B (en) * | 2021-08-06 | 2024-02-20 | 广东汇天航空航天科技有限公司 | Initial alignment method and device for aerocar |
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