CN108426571A - A kind of electronic compass local real-time calibration method and device - Google Patents
A kind of electronic compass local real-time calibration method and device Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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Abstract
The present embodiments relate to a kind of electronic compass local real-time calibration method and device, method includes：Obtain the magnetic survey data of electronic compass；Based on magnetic survey data and preset magnetic survey data sample model, magnetic survey data sample model is updated；Based on newer magnetic survey data sample model, by preset ellipsoid fitting strategy, the Hard Magnetic interference for obtaining electronic compass is interfered with soft magnetism；It is interfered with soft magnetism based on Hard Magnetic interference, carries out the calibration of electronic compass.After the embodiment of the present invention obtains magnetic survey data, and non-memory, but for updating magnetic survey data sample model, only need store-updated magnetic survey data sample model, so that electronic compass in normal use also can real-time update magnetic survey data sample model, and then to electronic compass real time calibration, without individually carrying out electronic compass calibration, user experience is promoted, and saves the space of storage magnetic survey data.
Description
Technical field
The present embodiments relate to a kind of electronic compass local real-time calibration method and devices.
Background technology
Currently, electronic compass as navigation instrument, attitude transducer or motion capture equipment be widely used in aviation,
The fields such as space flight, robot, navigation, navigation.Electronic compass measures earth magnetic field, and realization mechanism is pacified on three quadrature axis
Magnetometer is set, by the measured value of the magnetometer disposed on three quadrature axis, geomagnetic fieldvector is synthesized, to obtain electronic compass
It is presently in the geomagnetic field intensity and earth magnetism field direction of environment.
But the earth magnetism field direction that electronic compass measures is inaccurate, because electronic compass is there are noise and error,
Electronic compass must calibrated before, and otherwise, the earth magnetism field direction being calculated has with actual earth magnetism field direction
Very large deviation.
The existing interference of electronic compass and noise, such as drift, nonlinearity, installation error can be by demarcating before manufacture
To largely solving.However, the interference of also two classes can change with environment, real time calibration is needed, the interference of this two class is hard
Magnetic disturbance is interfered with soft magnetism.Wherein, Hard Magnetic interference can be equivalent to the fixed magnetic vector of opposing electronic compass；Soft magnetism interference is main
Caused by the ferrimagnet inside electronic compass, because of magnetization degree difference, soft magnetism interference is also different.It is set with motion capture
For standby, because environment is unknown, and ferrimagnet may be contacted during use so that electronic compass is magnetized, and occurs
Hard Magnetic is interfered to be interfered with soft magnetism, causes the action captured unnatural, deformity occurs, can not normal use.
Invention content
Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention provides a kind of electronic compass sheet
Ground real-time calibration method and device.
In a first aspect, the embodiment of the present invention discloses a kind of electronic compass local real-time calibration method, including：
Obtain the magnetic survey data of electronic compass；
Based on the magnetic survey data and preset magnetic survey data sample model, the magnetic survey number is updated
According to sample pattern；
The electricity is obtained by preset ellipsoid fitting strategy based on the newer magnetic survey data sample model
Hard Magnetic interference and the soft magnetism of sub- compass interfere；
It is interfered with soft magnetism based on Hard Magnetic interference, carries out the calibration of the electronic compass.
Optionally, the matrix S that the magnetic survey data sample model is 10 × 10；
Correspondingly, the update magnetic survey data sample model, including：
The magnetic survey data sample model is updated by following formula：
Si+1=Si+Hm
Wherein, HmFor magnetic survey data, SiFor the updated magnetic survey data sample model of ith, Si+1For i+1
Secondary updated magnetic survey data sample model, i are to take natural number, S0For initial magnetic survey data sample model, and S0For
10 × 10 null matrix.
Optionally, described to be based on the newer magnetic survey data sample model, by preset ellipsoid fitting strategy,
The Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism, including：
Based on the newer magnetic survey data sample model, by preset ellipsoid fitting strategy, fitting obtains ellipse
The coefficient vector of ball equation；Wherein, the ellipsoid fitting strategy is as follows：
Wherein, S be magnetic survey data sample model, v be ellipsoid equation coefficient vector v=[a, b, c, d, e, f, g,
H, m, -1], λ is the feature vector of S, and C is constraint matrix；
Based on the coefficient vector of the ellipsoid equation, ellipsoid tranformation model is determined；The ellipsoid tranformation model is as follows：
Wherein, the translation transformation matrix that Δ is 4 × 4, the rotational transformation matrix that R is 4 × 4, the stretching square that Q is 4 × 4
Battle array；
Based on the ellipsoid tranformation model, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；Wherein, described hard
Magnetic disturbance is Δ, and the soft magnetism interference isR3For the matrix that 3 rows before R and preceding 3 row are constituted, Q3For 3 rows before Q and
The matrix that preceding 3 row are constituted.
Optionally, after the magnetic survey data for obtaining electronic compass, the method further includes：
The magnetic survey data as verification sample are extracted from multigroup magnetic survey data of acquisition；
Correspondingly, described to be interfered with soft magnetism based on Hard Magnetic interference, it is described before the calibration for carrying out the electronic compass
Method further includes：
Verification sample based on extraction determines the distribution of the verification sample by preset sample distribution state model
State；
Judge whether the distribution of the verification sample is that standard spheroid face is uniformly distributed；
If so, the Hard Magnetic for verifying the electronic compass interferes and soft magnetism interference is reliable, and execute described based on described in
Hard Magnetic interferes the step of being interfered with soft magnetism, carrying out the calibration of the electronic compass.
Optionally, the verification sample based on extraction determines the verification by preset sample distribution state model
The distribution of sample, including：
The verification sample of extraction is coordinately transformed, the first master sample is obtained；It is sat where first master sample
Mark system is rectangular coordinate system in space, and coordinate system where first master sample is rectangular coordinate system in space；
First master sample is projected in the standard ellipse region of plane right-angle coordinate, projection sample is obtained；
Counting has the subregion number of projection sample in each default subregion in the standard ellipse region；
Judge whether the subregion number is greater than or equal to preset first number threshold value；
If so, determining that the distribution of verification sample is that standard spheroid face is uniformly distributed.
Optionally, the verification sample based on extraction determines the verification by preset sample distribution state model
Before the distribution of sample, the method further includes：
Hard Magnetic interference based on the electronic compass is interfered with soft magnetism, by preset sample exception judgment models, is determined
Whether the verification sample of extraction is abnormal；
If abnormal, the earth magnetism extracted from multigroup magnetic survey data of acquisition as verification sample is re-executed
Measurement data, until determining that the verification sample extracted is normal；
If normal, then it executes the verification sample based on extraction and institute is determined by preset sample distribution state model
The step of stating the distribution of verification sample.
Optionally, the Hard Magnetic interference based on the electronic compass is interfered with soft magnetism, is sentenced extremely by preset sample
Disconnected model determines whether the verification sample extracted is abnormal, including：
Hard Magnetic interference based on the electronic compass is interfered with soft magnetism, is converted to the verification sample of extraction, is obtained the
Two master samples；Coordinate system where second master sample is rectangular coordinate system in space, and second master sample is distributed
On standard ball；
Calculate the distance between the second master sample and rectangular coordinate system origin；
Statistical distance is in the second master sample number of preset distance range；
Judge whether the second master sample number is less than preset second number threshold value；
If so, determining that the verification sample extracted is abnormal.
A kind of electronic compass local real time calibration device is also disclosed in second aspect, the embodiment of the present invention, including：
Acquiring unit, the magnetic survey data for obtaining electronic compass；
Updating unit, for being based on the magnetic survey data and preset magnetic survey data sample model, update
The magnetic survey data sample model；
Determination unit passes through preset ellipsoid fitting plan for being based on the newer magnetic survey data sample model
Slightly, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；
Alignment unit carries out the calibration of the electronic compass for being interfered with soft magnetism based on Hard Magnetic interference.
Optionally, the matrix S that the magnetic survey data sample model is 10 × 10；
Correspondingly, the updating unit updates the magnetic survey data sample model for passing through following formula：
Si+1=Si+Hm
Wherein, HmFor magnetic survey data, SiFor the updated magnetic survey data sample model of ith, Si+1For i+1
Secondary updated magnetic survey data sample model, i are to take natural number, S0For initial magnetic survey data sample model, and S0For
10 × 10 null matrix.
Optionally, the determination unit, is used for：
Based on the newer magnetic survey data sample model, by preset ellipsoid fitting strategy, fitting obtains ellipse
The coefficient vector of ball equation；Wherein, the ellipsoid fitting strategy is as follows：
Wherein, S be magnetic survey data sample model, v be ellipsoid equation coefficient vector v=[a, b, c, d, e, f, g,
H, m, -1], λ is the feature vector of S, and C is constraint matrix；
Based on the coefficient vector of the ellipsoid equation, ellipsoid tranformation model is determined；The ellipsoid tranformation model is as follows：
Wherein, the translation transformation matrix that Δ is 4 × 4, the rotational transformation matrix that R is 4 × 4, the stretching square that Q is 4 × 4
Battle array；
Based on the ellipsoid tranformation model, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；Wherein, described hard
Magnetic disturbance is Δ, and the soft magnetism interference isR3For the matrix that 3 rows before R and preceding 3 row are constituted, Q3For 3 rows before Q and
The matrix that preceding 3 row are constituted.
As it can be seen that at least one embodiment of the present invention, after obtaining magnetic survey data, and non-memory, but for more
New magnetic survey data sample model, only needs store-updated magnetic survey data sample model so that electronic compass is just
When being often used also can real-time update magnetic survey data sample model, and then to electronic compass real time calibration, without individually carrying out
Electronic compass is calibrated, and user experience is promoted, and saves the space of storage magnetic survey data, and is needed in the prior art first
All magnetic survey data of acquisition are all stored, can not in electronic compass normal use to electronic compass real time calibration,
Can only be after the whole magnetic survey data of storage, then electronic compass calibration is individually carried out, process is cumbersome, poor user experience.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without having to pay creative labor, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is a kind of electronic compass local real-time calibration method flow chart provided in an embodiment of the present invention；
Fig. 2 is a kind of process schematic of the distribution of determining verification sample provided in an embodiment of the present invention；
Fig. 3 is a kind of structure diagram of electronic compass local real time calibration device provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work, shall fall within the protection scope of the present invention.
In a first aspect, as shown in Figure 1, the embodiment of the present invention discloses a kind of electronic compass local real-time calibration method, can wrap
Include following steps 101 to 103：
101, the magnetic survey data of electronic compass are obtained.
In the present embodiment, obtaining the frequency of magnetic survey data can determine according to practical application scene, can also be arranged
For fixed frequency.
It should be noted that magnetic survey data include by dividing unit namely one group of magnetic survey data of group：Three
The measured value of the magnetometer disposed on quadrature axis (such as x-axis, y-axis and z-axis of rectangular coordinate system in space), one group of magnetic survey number
According to the vector that can be regarded as 1 row 3 row.
102, it is based on the magnetic survey data and preset magnetic survey data sample model, updates the magnetic survey of described ground
Measure data sample model.
In the prior art, the processing method of the prior art is all samples under storage, then in unified calculation intermediate variable
S could remove the sample of storage only after the completion of calculating.
In the present embodiment, as long as getting magnetic survey data in step 101, then step 102 is based on the earth magnetism of acquisition
Measurement data updates last updated magnetic survey data sample model again, realizes changing for magnetic survey data
Generation processing, magnetic survey data can delete after updating magnetic survey data sample model, without all earth magnetism that will be obtained
Measurement data all stores, and has saved the space of storage magnetic survey data.
103, institute is obtained by preset ellipsoid fitting strategy based on the newer magnetic survey data sample model
The Hard Magnetic interference for stating electronic compass is interfered with soft magnetism.
In the present embodiment, it is contemplated that electronic compass magnetizes so that magnetic survey data are divided in electronic compass coordinate system in ellipsoid
Cloth in the present embodiment, the newer magnetic survey data sample model is passed through default therefore, it is necessary to carry out ellipsoid fitting
Ellipsoid fitting strategy, ellipsoid can be obtained and be distributed the coefficient vector of corresponding ellipsoid equation, and then obtain calibration parameter.
In the present embodiment, preset ellipsoid fitting strategy can be the least square method with constraints, due to minimum
Square law cannot be guaranteed that the quadratic surface fitted is ellipsoid, it is therefore desirable to add constraints, the setting of constraints can edge
With the prior art, ensure that fitting result is ellipsoid, this embodiment is not repeated.
104, it is based on Hard Magnetic interference to interfere with soft magnetism, carries out the calibration of the electronic compass.
As it can be seen that electronic compass local real-time calibration method disclosed in the present embodiment is not deposited after obtaining magnetic survey data
Storage, but for updating magnetic survey data sample model, only need store-updated magnetic survey data sample model so that
Electronic compass in normal use also can real-time update magnetic survey data sample model, and then to electronic compass real time calibration,
Without individually carrying out electronic compass calibration, promotion user experience, and the space of storage magnetic survey data is saved, and existing skill
All magnetic survey data first by acquisition are needed all to store in art, it can not be in electronic compass normal use to electronics sieve
Disk real time calibration, can only be after the whole magnetic survey data of storage, then individually carry out electronic compass calibration, and process is cumbersome, user
Experience is poor.
In a specific example, the model of magnetic survey data sample described in step 102 be 10 × 10 matrix S；
Correspondingly, the update magnetic survey data sample model described in step 102, including：
The magnetic survey data sample model is updated by following formula：
Si+1=Si+Hm
Wherein, HmFor magnetic survey data, SiFor the updated magnetic survey data sample model of ith, Si+1For i+1
Secondary updated magnetic survey data sample model, i are to take natural number, S0For initial magnetic survey data sample model, and S0For
10 × 10 null matrix.
In the present embodiment, magnetic survey data sample model can be regarded as Iterative Matrix.
In the present embodiment, it is contemplated that one group of magnetic survey data can be regarded as the vector of 1 row 3 row, in order to make magnetic survey
Data can be added with magnetic survey data sample model, can the vector that 1 row 3 arranges be converted to the matrix X that 10 rows 1 arrange, then XXTFor
10 × 10 matrixes can be added, S with s-matrixi+1=Si+HmBe converted to Si+1=Si+XXT。
On the basis of a upper example, in the present embodiment, the newer magnetic survey data are based on described in step 103
Sample pattern, by preset ellipsoid fitting strategy, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism, including Fig. 1
In unshowned following steps 1031~1033：
1031, it is fitted by preset ellipsoid fitting strategy based on the newer magnetic survey data sample model
To the coefficient vector of ellipsoid equation；Wherein, the ellipsoid fitting strategy is as follows：
Wherein, S be magnetic survey data sample model, v be ellipsoid equation coefficient vector v=[a, b, c, d, e, f, g,
H, m, -1], λ is the feature vector of S, and C is constraint matrix, and correspondingly, ellipsoid equation is ax2+by2+cz2+2dyz+2exz+2fxy
+ 2gx+2hy+2mz-1=0.
In the present embodiment, Hard Magnetic interference can be considered the fixed magnetic vector of opposing electronic compass, be expressed as Hd, soft magnetism interference
It can be equivalent to soft magnetism interference matrix, be denoted as Ks, effect is so that the ground magnetic vector distortion that should be spherical surface distribution is ellipsoid.Note
True geomagnetic fieldvector is He, magnetic survey data are Hm, true ground magnetic vector Hard Magnetic interference with soft magnetism interference under distort
For ellipsoid, can be described with following equation：
Hm=KsHe+Hd
It can prove HmDistribution be ellipsoid.
1032, the coefficient vector based on the ellipsoid equation, determines ellipsoid tranformation model；The ellipsoid tranformation model is such as
Under：
Wherein, the stretching matrix that Q is 4 × 4, effect are that the unit ball by the centre of sphere in origin passes through along reference axis
Stretching is ellipsoid；The translation transformation matrix that Δ is 4 × 4, effect are that the ellipsoid by center in coordinate origin moves to it
His position；The rotational transformation matrix that R is 4 × 4, effect is that ellipsoid is rotated to be other postures.
1033, it is based on the ellipsoid tranformation model, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；Wherein,
The Hard Magnetic interference is Δ, and the soft magnetism interference isR3For the matrix that 3 rows before R and preceding 3 row are constituted, Q3For Q's
The matrix that preceding 3 row and preceding 3 row are constituted.
In the present embodiment, obtains Hard Magnetic in step 1033 and interfere HdK is interfered with soft magnetismsAfterwards, step 104 passes through Hm=KsHe+
Hd, you can determine true ground magnetic vector He, realize the calibration to electronic compass.
The prior art decomposes (namely triangle decomposition) by Cholesky and obtains the soft magnetism interference of electronic compass, however
Cholesky decomposition can assume that soft magnetism interference matrix is symmetrical matrix, and the nondiagonal element i.e. between centers for ignoring soft magnetism interference matrix is dry
It disturbs, therefore Cholesky decomposes (namely triangle decomposition) and obtains soft magnetism interference there are error, electronic compass disclosed in the present embodiment
Local real-time calibration method, the soft magnetism that electronic compass is obtained by ellipsoid tranformation model interfere, and do not ignore soft magnetism interference matrix
Nondiagonal element, that is, between centers interference is therefore, more accurate compared with prior art.
Based on each embodiment disclosed above, in the present embodiment, the magnetic survey number of electronic compass is obtained described in step 101
According to later, the method may also include unshowned following steps 101 ' in Fig. 1：
101 ', the magnetic survey data as verification sample are extracted from multigroup magnetic survey data of acquisition.
In the present embodiment, step 101 ' in can be randomly selected from multigroup magnetic survey data of acquisition as verification sample
This magnetic survey data.
In the present embodiment, consider that the Hard Magnetic interference that step 103 obtains may be inaccurate with soft magnetism interference, therefore, in step
Before 104 pairs of electronic compass calibrations, first the Hard Magnetic interference that step 103 obtains should be verified with soft magnetism interference, with determination
Hard Magnetic interfere with soft magnetism interference it is whether reliable, it is therefore desirable to obtain verification sample for verify Hard Magnetic interference and soft magnetism interfere be
No reliable, the present embodiment passes through step 101 ' obtain verification sample.
Correspondingly, described in step 104 based on the Hard Magnetic interference with soft magnetism interfere, carry out the electronic compass calibration it
Before, the method further includes unshowned following steps A~C in Fig. 1：
A, the verification sample based on extraction determines point of the verification sample by preset sample distribution state model
Cloth state；
B, judge whether the distribution of the verification sample is that standard spheroid face is uniformly distributed；If so, thening follow the steps
C；Otherwise, Hard Magnetic interference and the soft magnetism interference for verifying the electronic compass are unreliable, need to abandon Hard Magnetic interference and soft magnetism
Interference, and re-execute step 101~103 and obtain new Hard Magnetic interference and soft magnetism interference, until new Hard Magnetic interference and soft magnetism
Interference verification is reliable；
C, Hard Magnetic interference and the soft magnetism interference for verifying the electronic compass are reliable, illustrate that Hard Magnetic interference and soft magnetism interference are accurate
It is really available, and execute step 104.
On the basis of a upper example, in the present embodiment, the verification sample based on extraction described in step A, by default
Sample distribution state model, determine it is described verification sample distribution, it may include following steps A1~A5：
A1, the verification sample of extraction is coordinately transformed, obtains the first master sample；Where first master sample
Coordinate system is rectangular coordinate system in space, namely the process of intermediate diagram is changed to as shown in the left side of Fig. 2, wherein the left side of Fig. 2
Stain in diagram indicates that the verification sample extracted, the stain in the intermediate diagram of Fig. 2 indicate the first master sample.
In the present embodiment, step A1 is equivalent to is transformed to be distributed on standard spheroid that (standard is ellipse by the verification sample of extraction
Ellipsoid of the ball, that is, center in coordinate origin, semiaxis in reference axis) the first master sample.
A2, first master sample is projected in the standard ellipse region of plane right-angle coordinate, obtains projection sample
Originally, namely as shown among Fig. 2 change to the process of right diagram, wherein the stain in the right diagram of Fig. 2 indicates projection
Sample.
There is in A3, the statistics standard ellipse region in each default subregion the subregion number of projection sample.
In the present embodiment, the area in standard ellipse region in the division of each default subregion for example, right diagram of Fig. 2
Domain divides.
A4, judge whether the subregion number is greater than or equal to preset first number threshold value；If so, thening follow the steps
A5；Otherwise, it determines the distribution of verification sample is not that standard spheroid face is uniformly distributed.
In the present embodiment, in the ideal situation, each default subregion should have projection sample, and under virtual condition, have
A little region may be without projection sample, therefore, it is necessary to preset first number threshold value, which indicates verification sample
Distribution be that subregion number with projection sample when standard spheroid face is uniformly distributed is minimum, the present embodiment does not limit the
The specific value of one number threshold value, those skilled in the art can be arranged according to actual needs.
A5, determine that the distribution of verification sample is that standard spheroid face is uniformly distributed.
In a specific example, the verification sample based on extraction described in step A passes through preset sample distribution state
Model, before determining the distribution for verifying sample, the method can also include the steps of B1 and B2：
B1, the Hard Magnetic interference based on the electronic compass are interfered with soft magnetism, by preset sample exception judgment models, really
Determine step 101 ' in the verification sample that extracts it is whether abnormal；If abnormal, B2 is thened follow the steps；Otherwise, step A is executed；
B2, step 101 is re-executed ' it described is extracted as the ground for verifying sample from multigroup magnetic survey data of acquisition
Magnetic measurement data, until step B1 determines that the verification sample extracted is normal.
On the basis of a upper example, in the present embodiment, the Hard Magnetic interference based on the electronic compass described in step B1
Interfered with soft magnetism, by preset sample exception judgment models, determine step 101 ' in the verification sample that extracts it is whether abnormal, packet
Include following steps B11~B15：
B11, the Hard Magnetic interference based on the electronic compass are interfered with soft magnetism, are converted, are obtained to the verification sample of extraction
To the second master sample；Coordinate system where second master sample is rectangular coordinate system in space.
In the present embodiment, step B11, which is equivalent to, to be transformed to the verification sample of extraction to be distributed in (standard ball on standard ball
I.e. center coordinate origin, radius be 1 ball) the second master sample.
B12, the distance between the second master sample and rectangular coordinate system origin are calculated.
B13, statistical distance are in the second master sample number of preset distance range.
In the present embodiment, in the ideal situation, if verification sample is normal, the second master sample should be distributed in standard ball
On namely the distance between the second master sample and rectangular coordinate system origin be 1, it is normal to verify but under virtual condition
Sample may be not distributed on the spherical surface of standard ball after being converted to the second master sample, but have certain error, for this purpose, this
Embodiment pre-determined distance range, the second master sample within the scope of pre-determined distance think normal, preset distance range
For example, 0.9~1.1, distance is less than 0.9 or the second master sample more than 1.1 is regarded as abnormal.
B14, judge whether the second master sample number is less than preset second number threshold value；If so, executing step
Rapid B15；Otherwise, step A is executed.
It in the present embodiment, under virtual condition, can not ensure that all verification sample standard deviations are normal, need to preset second number threshold
It is worth, which can determine according to the maximum allowable ratio of the verification sample extracted shared by exceptional sample number, this
Embodiment does not limit the specific value of maximum allowable ratio, and for example, 5%, those skilled in the art can set according to actual needs
It sets.
B15, it determines that the verification sample extracted is abnormal, and executes step B2.
Second aspect can wrap as shown in figure 3, the embodiment of the present invention discloses a kind of electronic compass local real time calibration device
It includes with lower unit：Acquiring unit 31, updating unit 32, determination unit 33 and alignment unit 34.Each unit is described as follows：
Acquiring unit 31, the magnetic survey data for obtaining electronic compass；
Updating unit 32, for being based on the magnetic survey data and preset magnetic survey data sample model, more
The new magnetic survey data sample model；
Determination unit 33 passes through preset ellipsoid fitting for being based on the newer magnetic survey data sample model
Strategy, the Hard Magnetic interference for obtaining the electronic compass are interfered with soft magnetism；
Alignment unit 34 carries out the calibration of the electronic compass for being interfered with soft magnetism based on Hard Magnetic interference.
Electronic compass local real time calibration device disclosed in above example can realize that each embodiment of first aspect discloses
The flow of electronic compass local real-time calibration method repeated no more to avoid repeating.
It is understood that embodiments described herein can use hardware, software, firmware, middleware, microcode or its
It combines to realize.For hardware realization, processing unit may be implemented in one or more application-specific integrated circuit (Application
Specific Integrated Circuits, ASIC), digital signal processor (Digital Signal Processing,
DSP), digital signal processing appts (DSP Device, DSPD), programmable logic device (Programmable Logic
Device, PLD), field programmable gate array (Field-Programmable Gate Array, FPGA), general processor,
In controller, microcontroller, microprocessor, other electronic units for executing herein described function or combinations thereof.
For software implementations, the techniques described herein can be realized by executing the unit of function described herein.Software generation
Code is storable in memory and is executed by processor.Memory can in the processor or portion realizes outside the processor.
Those of ordinary skill in the art may realize that lists described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, depends on the specific application and design constraint of technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided herein, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, device or unit
It connects, can be electrical, machinery or other forms.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer read/write memory medium.Based on this understanding, the technical solution of the embodiment of the present invention is substantially
The part of the part that contributes to existing technology or the technical solution can embody in the form of software products in other words
Come, which is stored in a storage medium, including some instructions are used so that a computer equipment (can
To be personal computer, server or the network equipment etc.) execute all or part of each embodiment the method for the present invention
Step.And storage medium above-mentioned includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can to store program
The medium of code.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
It should be noted that herein, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of electronic compass local real-time calibration method, which is characterized in that including：
Obtain the magnetic survey data of electronic compass；
Based on the magnetic survey data and preset magnetic survey data sample model, the magnetic survey data sample is updated
This model；
Electronics sieve is obtained by preset ellipsoid fitting strategy based on the newer magnetic survey data sample model
Hard Magnetic interference and the soft magnetism of disk interfere；
It is interfered with soft magnetism based on Hard Magnetic interference, carries out the calibration of the electronic compass.
2. according to the method described in claim 1, it is characterized in that, the square that the magnetic survey data sample model is 10 × 10
Battle array S；
Correspondingly, the update magnetic survey data sample model, including：
The magnetic survey data sample model is updated by following formula：
Si+1=Si+Hm
Wherein, HmFor magnetic survey data, SiFor the updated magnetic survey data sample model of ith, Si+1More for i+1 time
Magnetic survey data sample model after new, i are to take natural number, S0For initial magnetic survey data sample model, and S0For 10 ×
10 null matrix.
3. according to the method described in claim 2, it is characterized in that, described be based on the newer magnetic survey data sample mould
Type, by preset ellipsoid fitting strategy, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism, including：
Based on the newer magnetic survey data sample model, by preset ellipsoid fitting strategy, fitting obtains ellipsoid side
The coefficient vector of journey；Wherein, the ellipsoid fitting strategy is as follows：
Wherein, S be magnetic survey data sample model, v be ellipsoid equation coefficient vector v=[a, b, c, d, e, f, g, h, m ,-
1], λ is the feature vector of S, and C is constraint matrix；
Based on the coefficient vector of the ellipsoid equation, ellipsoid tranformation model is determined；The ellipsoid tranformation model is as follows：
Wherein, the translation transformation matrix that Δ is 4 × 4, the rotational transformation matrix that R is 4 × 4, the stretching matrix that Q is 4 × 4；
Based on the ellipsoid tranformation model, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；Wherein, the Hard Magnetic is dry
It disturbs as Δ, the soft magnetism interference isR3For the matrix that 3 rows before R and preceding 3 row are constituted, Q3For 3 rows before Q and preceding 3
Arrange the matrix constituted.
4. method according to any one of claims 1 to 3, which is characterized in that the magnetic survey for obtaining electronic compass
After data, the method further includes：
The magnetic survey data as verification sample are extracted from multigroup magnetic survey data of acquisition；
Correspondingly, described to be interfered with soft magnetism based on Hard Magnetic interference, before the calibration for carrying out the electronic compass, the method
Further include：
Verification sample based on extraction determines the distribution of the verification sample by preset sample distribution state model；
Judge whether the distribution of the verification sample is that standard spheroid face is uniformly distributed；
If so, the Hard Magnetic for verifying the electronic compass interferes and soft magnetism interference is reliable, and execute described based on the Hard Magnetic
The step of interference and soft magnetism interfere, carry out the calibration of the electronic compass.
5. according to the method described in claim 4, it is characterized in that, the verification sample based on extraction, passes through preset sample
Well-behaved cloth state model determines the distribution of the verification sample, including：
The verification sample of extraction is coordinately transformed, the first master sample is obtained；Coordinate system where first master sample
For rectangular coordinate system in space；
First master sample is projected in the standard ellipse region of plane right-angle coordinate, projection sample is obtained；
Counting has the subregion number of projection sample in each default subregion in the standard ellipse region；
Judge whether the subregion number is greater than or equal to preset first number threshold value；
If so, determining that the distribution of verification sample is that standard spheroid face is uniformly distributed.
6. according to the method described in claim 4, it is characterized in that, the verification sample based on extraction, passes through preset sample
Well-behaved cloth state model, before determining the distribution for verifying sample, the method further includes：
Hard Magnetic interference based on the electronic compass is interfered with soft magnetism, by preset sample exception judgment models, is determined and is extracted
Verification sample it is whether abnormal；
If abnormal, the magnetic survey extracted from multigroup magnetic survey data of acquisition as verification sample is re-executed
Data, until determining that the verification sample extracted is normal；
If normal, then the verification sample based on extraction is executed, by preset sample distribution state model, is tested described in determination
The step of demonstrate,proving the distribution of sample.
7. according to the method described in claim 6, it is characterized in that, the Hard Magnetic interference and soft magnetism based on the electronic compass
Interference determines whether the verification sample extracted is abnormal by preset sample exception judgment models, including：
Hard Magnetic interference based on the electronic compass is interfered with soft magnetism, is converted to the verification sample of extraction, is obtained the second mark
Quasi- sample；Coordinate system where second master sample is rectangular coordinate system in space；
Calculate the distance between the second master sample and rectangular coordinate system origin；
Statistical distance is in the second master sample number of preset distance range；
Judge whether the second master sample number is less than preset second number threshold value；
If so, determining that the verification sample extracted is abnormal.
8. a kind of electronic compass local real time calibration device, which is characterized in that including：
Acquiring unit, the magnetic survey data for obtaining electronic compass；
Updating unit, for being based on the magnetic survey data and preset magnetic survey data sample model, described in update
Magnetic survey data sample model；
Determination unit, for being obtained by preset ellipsoid fitting strategy based on the newer magnetic survey data sample model
Hard Magnetic interference to the electronic compass is interfered with soft magnetism；
Alignment unit carries out the calibration of the electronic compass for being interfered with soft magnetism based on Hard Magnetic interference.
9. device according to claim 8, which is characterized in that the square that the magnetic survey data sample model is 10 × 10
Battle array S；
Correspondingly, the updating unit updates the magnetic survey data sample model for passing through following formula：
Si+1=Si+Hm
Wherein, HmFor magnetic survey data, SiFor the updated magnetic survey data sample model of ith, Si+1More for i+1 time
Magnetic survey data sample model after new, i are to take natural number, S0For initial magnetic survey data sample model, and S0For 10 ×
10 null matrix.
10. device according to claim 9, which is characterized in that the determination unit is used for：
Based on the newer magnetic survey data sample model, by preset ellipsoid fitting strategy, fitting obtains ellipsoid side
The coefficient vector of journey；Wherein, the ellipsoid fitting strategy is as follows：
Wherein, S be magnetic survey data sample model, v be ellipsoid equation coefficient vector v=[a, b, c, d, e, f, g, h, m ,-
1], λ is the feature vector of S, and C is constraint matrix；
Based on the coefficient vector of the ellipsoid equation, ellipsoid tranformation model is determined；The ellipsoid tranformation model is as follows：
Wherein, the translation transformation matrix that Δ is 4 × 4, the rotational transformation matrix that R is 4 × 4, the stretching matrix that Q is 4 × 4；
Based on the ellipsoid tranformation model, the Hard Magnetic interference for obtaining the electronic compass is interfered with soft magnetism；Wherein, the Hard Magnetic is dry
It disturbs as Δ, the soft magnetism interference isR3For the matrix that 3 rows before R and preceding 3 row are constituted, Q3For 3 rows before Q and preceding 3
Arrange the matrix constituted.
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