CN108507553A - The bearing calibration of electronic compass - Google Patents
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- 230000005291 magnetic effect Effects 0.000 claims abstract description 74
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- 238000004891 communication Methods 0.000 claims description 23
- 238000012937 correction Methods 0.000 claims description 18
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
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- 238000009434 installation Methods 0.000 description 13
- 238000004422 calculation algorithm Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01C17/02—Magnetic compasses
- G01C17/28—Electromagnetic compasses
- G01C17/32—Electron compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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 invention discloses a kind of bearing calibrations of electronic compass, include the following steps：（1）Pedestal error parameter is obtained, obtains the magnetic field data of Earth and inclination data of current environment respectively by Magnetic Sensor and obliquity sensor, is sent into microprocessor；（2）Pour angle compensation is carried out to magnetic field data；（3）According to step（2）The data of acquisition carry out azimuth solution；（4）Hard Magnetic mushing error parameter, the soft magnetism mushing error parameter for obtaining erecting bed constitute error parameter with pedestal error parameter；（5）Using error parameter to step（3）Data carry out error compensation, obtain attitude angle data；（6）In conjunction with posture position compensation method, actual coordinates coordinate origin is moved into measuring coordinate system origin.The present invention solves the problems, such as that conditional electronic compass only has and provides posture position information output function, using the posture information that itself is provided, while not changing original hardware system structure, and research posture position compensation.
Description
Technical field
The present invention relates to a kind of test method of compass more particularly to a kind of bearing calibrations of electronic compass.
Background technology
Electronic compass as a kind of earth-magnetism navigation module, be it is a kind of using earth magnetic field and acceleration of gravity come measurement direction
Important navigational tool, output azimuth, attitude angle, the measured values such as magnetic field value can provide course and posture information, have in real time
Small, simple in structure, small power consumption, it is at low cost the advantages that, be widely used in the necks such as aviation, navigation, vehicle positioning, geological prospecting
Domain.
Conditional electronic compass hardware system includes mainly Magnetic Sensor, obliquity sensor, signal conditioning circuit, A/D conversions
Circuit, microprocessor, power circuit, serial communication circuit, software systems include mainly that data acquire, and azimuth solves, error
Parameter calculates, error compensation.Software section major function includes：Magnetic Sensor is completed in control and the data of obliquity sensor are adopted
Collection compensates correction to collected data and azimuth resolves, last serial ports output azimuth, attitude angle information.
Traditional electronic compass technology problem and defect are mainly reflected in following two aspects：
The first, only have the processing to earth magnetic field and acceleration of gravity signal, display, storage or transmission function, do not have
The standby error correction function to external signal.
The second, do not have and work(is corrected by communication interface realization again to the error compensation parameter that microprocessor internal is embedded in
Can, it is installed on that machine system alignment is relatively complicated, is not suitable in the machine system of long-term unattended and inconvenient movement.
Moreover, electronic compass using be it is general can all pass through the internal mode automatically corrected and obtain correction parameter, with into
Row error compensation, method is substantially：It needs that product attitude angle is kept to be less than 15 ° of slowly rotations, slewing area is come more than 360 °
Realize product correction.
If the installation environment of product is in removable, rotatable state, inside can be carried out at this time and is automatically corrected.If product
Mounted on when the positions such as can not rotate, rotate, then it can not complete to correct, electronic compass must be disassembled herein, it is non-
It is often inconvenient.It is individually good using rotation mode correction to the electronic compass even if disassembling product, it can not compensate in this way
Carrier platform, which exists, interferes soft magnetism interference and Hard Magnetic caused by electronic compass.
Invention content
The purpose of the present invention be that provide one kind solve the above problems, be suitable for variety carrier, and not by installation site,
Mounting means limits, and can complete the bearing calibration of the electronic compass of correction.
To achieve the goals above, the technical solution adopted by the present invention is such：A kind of bearing calibration of electronic compass,
Including electronic compass, the electronic compass includes body, cover board and the circuit unit in body, and the circuit unit includes
Data acquisition circuit, microprocessor, serial communication circuit and power circuit, the data acquisition circuit include magnetic sensor
And obliquity sensor, the magnetic sensor are used to obtain the three axis earth's magnetic field value of the earth of current environment, and through signal condition
It is sent into microprocessor after circuit, A/D conversion circuits, the terrestrial gravitation that the obliquity sensor is used to obtain current environment accelerates
Angle value, and it is converted into inclination value, it is sent into microprocessor, the serial ports of the microprocessor is connect with serial communication circuit, the string
For port communications circuit for being communicated with host computer, the shell side is equipped with communication interface plug-in unit, and the communication interface plug-in unit is used for
Connect serial communication circuit and power circuit；
The bearing calibration of the electronic compass includes the following steps：
(1) system initialization, obtain the error of zero parameter of electronic compass, sensitivity error parameter, quadrature error parameter,
Installation error parameter, temperature error parameter, prestore into microprocessor as basic error parameter, pass through Magnetic Sensor and inclination angle
Sensor obtains the magnetic field data of Earth and inclination data of current environment respectively, is sent into microprocessor；
(2) microprocessor carries out pour angle compensation using inclination data to magnetic field data, then by inclination data and compensation
Magnetic field data afterwards carries out data prediction；
(3) azimuth solution is carried out according to the data that step (2) obtains；Export the azimuth compensated without correction parameter
Data；
(4) Hard Magnetic mushing error parameter, the soft magnetism mushing error parameter for obtaining erecting bed, are constituted with pedestal error parameter
Error parameter；
(5) error parameter is utilized, error compensation is carried out to the data of step (3), obtains attitude angle data；
(6) attitude angle data obtained according to step (5), in conjunction with posture position compensation method, by actual coordinates coordinate
Origin translation is to measuring coordinate system origin.
As preferred：The specific method of step (2) pour angle compensation is：
(21) magnetic field strength component X, Y, Z of tri- axis of carrier coordinate system X, Y, Z are measured using magnetic sensor；
(22) gravitational acceleration component Ax, Ay, Az that tri- axis of carrier X, Y, Z are measured by obliquity sensor, in conjunction with sky
Between geometry calculate roll angle θ and pitch angle δ, formula it is as follows：
(23) slope compensation
By the roll angle and pitch angle measured, in conjunction with magnetic field strength component X, Y, the Z measured, according to vector triangle,
The horizontal magnetic intensity X being transformed under terrestrial coordinate systemHAnd YH；
XH=Xcos (δ)+Ysin (θ) sin (δ)-Zcos (θ) sin (δ) (3)
YH=Ycos (θ)+Zsin (θ) (4)
As preferred：The specific method of azimuth solution is in the step (3)：
The X that formula (3) and (4) are found outHAnd YH, bring following formula into and find out azimuth angle alpha：
As preferred：In the step (6), it is specially in conjunction with posture position compensation method：
Coordinate system (x after translation2,y2,z2) with the relationship of measuring coordinate system (x, y, z) be：
1) the rotation alpha angles counterclockwise about the z axis coordinate system XYZ, are transformed to coordinate system X1Y1Z；
2) coordinate system X1Y1Z is around Y1Axis is counterclockwise rotation β angle, is transformed to coordinate system X2Y1Z1；
3) coordinate system X2Y1Z1Around X2Axis rotates the angles γ counterclockwise, is transformed to coordinate system X2Y2Z2；
Rotation angle α, β, γ in above-mentioned rotary course are known as " Euler's rotation angle ", are provided by electronic compass, measuring coordinate
It is that (x, y, z) passes through the coordinate system (x three times after reference axis rotation transformation to translation2,y2,z2) in, above-mentioned rotary course square
The form that battle array is multiplied is expressed as
It enables
Coordinate in measuring coordinate system is
As preferred：The body, which is adopted, to be formed from aluminium, and sealing ring is equipped between cover board and body.
Compared with the prior art, the advantages of the present invention are as follows：The present invention solves conditional electronic compass and only has offer appearance
State location information output function problem, using the posture information that itself is provided, while not changing original hardware system structure,
Study posture position compensation method and environmental disturbances field compensation method.
In addition, manufacturing body using aluminum material, it is avoided that body interferes earth's magnetic field, it is waterproof using sealing ring.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is circuit diagram of the present invention；
Fig. 3 is the flow chart of the embodiment of the present invention 1；
Fig. 4 is measuring coordinate system and actual coordinates relational graph in embodiment 1；
Fig. 5 is coordinate system and measuring coordinate system relationship after being translated in embodiment 1；
Fig. 6 is the front and back simulation comparison figure of step (6) compensation；
Fig. 7 is the flow chart of the embodiment of the present invention 3.
In figure：1, cover board；2, circuit unit；3, body；4, communication interface plug-in unit.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings.
Embodiment 1：Referring to Fig. 1 to Fig. 6, a kind of bearing calibration of electronic compass, including electronic compass, the electronic compass
Including body, cover board and the circuit unit in body, the circuit unit includes data acquisition circuit, microprocessor, string
Port communications circuit and power circuit, the data acquisition circuit include magnetic sensor and obliquity sensor, the three axis magnetic
Sensor is used to obtain the three axis earth's magnetic field value of the earth of current environment, and is sent into after signal conditioning circuit, A/D conversion circuits micro-
In processor, the obliquity sensor is used to obtain the terrestrial gravitation acceleration value of current environment, and is converted into inclination value, is sent into
The serial ports of microprocessor, the microprocessor is connect with serial communication circuit, and the serial communication circuit is used for logical with host computer
Letter, the shell side are equipped with communication interface plug-in unit, and the communication interface plug-in unit is for connecting serial communication circuit and power supply electricity
Road；The body, which is adopted, to be formed from aluminium, and sealing ring is equipped between cover board and body.
The bearing calibration of the electronic compass includes the following steps：
(1) system initialization, obtain the error of zero parameter of electronic compass, sensitivity error parameter, quadrature error parameter,
Installation error parameter, temperature error parameter, prestore into microprocessor as basic error parameter, pass through Magnetic Sensor and inclination angle
Sensor obtains the magnetic field data of Earth and inclination data of current environment respectively, is sent into microprocessor；
(2) microprocessor carries out pour angle compensation using inclination data to magnetic field data, then by inclination data and compensation
Magnetic field data afterwards carries out data prediction；
(3) azimuth solution is carried out according to the data that step (2) obtains；Export the azimuth compensated without correction parameter
Data；
(4) Hard Magnetic mushing error parameter, the soft magnetism mushing error parameter for obtaining erecting bed, are constituted with pedestal error parameter
Error parameter；
(5) error parameter is utilized, error compensation is carried out to the data of step (3), obtains attitude angle data；
(6) attitude angle data obtained according to step (5), in conjunction with posture position compensation method, by actual coordinates coordinate
Origin translation is to measuring coordinate system origin.
In the present embodiment：The specific method of step (2) pour angle compensation is：
(21) magnetic field strength component X, Y, Z of tri- axis of carrier coordinate system X, Y, Z are measured using magnetic sensor；
(22) gravitational acceleration component Ax, Ay, Az that tri- axis of carrier X, Y, Z are measured by obliquity sensor, in conjunction with sky
Between geometry calculate roll angle θ and pitch angle δ, formula it is as follows：
(23) slope compensation
By the roll angle and pitch angle measured, in conjunction with magnetic field strength component X, Y, the Z measured, according to vector triangle,
The horizontal magnetic intensity X being transformed under terrestrial coordinate systemHAnd YH；
XH=Xcos (δ)+Ysin (θ) sin (δ)-Zcos (θ) sin (δ) (3)
YH=Ycos (θ)+Zsin (θ) (4)
The specific method of azimuth solution is in the step (3)：
The X that formula (3) and (4) are found outHAnd YH, bring following formula into and find out azimuth angle alpha：
In the step (6), it is specially in conjunction with posture position compensation method：
Coordinate system (x after translation2,y2,z2) with the relationship of measuring coordinate system (x, y, z) be：
1) the rotation alpha angles counterclockwise about the z axis coordinate system XYZ, are transformed to coordinate system X1Y1Z；
2) coordinate system X1Y1Z is around Y1Axis is counterclockwise rotation β angle, is transformed to coordinate system X2Y1Z1；
3) coordinate system X2Y1Z1Around X2Axis rotates the angles γ counterclockwise, is transformed to coordinate system X2Y2Z2；
Rotation angle α, β, γ in above-mentioned rotary course are known as " Euler's rotation angle ", are provided by electronic compass, measuring coordinate
It is that (x, y, z) passes through the coordinate system (x three times after reference axis rotation transformation to translation2,y2,z2) in, above-mentioned rotary course square
The form that battle array is multiplied is expressed as
It enables
Coordinate in measuring coordinate system is
So far the compensation of node posture position is completed.
α=2 °, β=2 °, when γ=1 °, it is assumed that electronic compass measures position and misses
Poor maximum value is ± 0.01m, when attitude error maximum value is ± 0.1 °, is compensated using the above method and does not have balanced emulation to tie
Fruit is as shown in Figure 6, wherein the lines of that intermediate fluctuation very little are the emulation datagram before compensation, and it is to mend to fluctuate big lines
Emulation datagram after repaying, it can be seen that by that can greatly improve data precision after compensation, root-mean-square error is by 0.7335 drop
It is 0.0235, has dropped an order of magnitude.
Wherein, Hard Magnetic mushing error parameter, the soft magnetism mushing error parameter for obtaining erecting bed are constituted with pedestal error and are missed
Poor parameter；It is the communication interface plug-in unit by shell side, is input in microprocessor through serial communication circuit.
Embodiment 2：In the prior art, electronic compass all carries internal autonomy correction mode and instructs.Azimuth solve with
Before, first increase a part and judge, host computer inputs the instruction of " whether needing to correct ", after microprocessor receives, if being not necessarily to school
Just, attitude angle information directly is solved using the error parameter combination azimuth solution to prestore, if desired corrected, then enter inside
In autonomous calibration mode instruction：
It needs that product attitude angle is kept to be less than 15 ° of slowly rotations, slewing area realizes that product is corrected more than 360 °；Herein
Period executes acquisition sensing data program by the correction program of embedded microprocessor internal, and gathered data includes mainly
Magnetic field data in " after data prediction " link and inclination data are calculated when the points of acquisition are enough by embedded correction
Method processing and correction parameter solution procedure, error parameter is solved and is stored；It is further continued for operation azimuth to solve, error
Compensation software program finally exports new azimuth, attitude angle data；Then host computer stores output of products data, finally sends out
It send and stops autonomous mode correction instruction.
Herein, in internal autonomy correction mode, error parameter includes error of zero parameter, sensitivity error parameter, orthogonal
Error parameter, installation error parameter, Hard Magnetic mushing error parameter, soft magnetism mushing error parameter, temperature error etc..
(1) error of zero：Error of zero parameter is inputted, error of zero program is run, passes through error of zero parameter and magnetic field
Measured value, inclination angle measured value carry out the algorithm matrix operation, and the factors such as the null offset of Magnetic Sensor and obliquity sensor are caused
Azimuth angle error compensate, complete offset output value complement repay；
(2) sensitivity error：According to azimuth solution formula, when X-axis and the product of Y-axis sensitivity and amplification factor differ
When cause, azimuth angle error, therefore input sensitivity error parameter will be caused, adjust the correspondence scale factor of X, Y, Z axis magnetic field value
(sensitivity error parameter) runs sensitivity error program, itself and measured magnetic field, inclination angle measured value are carried out algorithm operation,
Realize compensation function；
(3) quadrature error：Because of the manufacture of Magnetic Sensor, installation error, error magnetic field caused by causing X, Y, Z axis non-orthogonal
Measurement error, final calculate cause azimuth angle error, input quadrature error parameter, run quadrature error compensation program, by X,
Y, the error compensation that is orthogonal has been calculated by program with measured magnetic field, inclination angle measured value in the angle change data of Z axis；
(4) installation error：When Magnetic Sensor and obliquity sensor are because of installation each axis and carrier reference axis it is not parallel due to lead
The installation error of cause inputs installation error parameter, runs installation error program, by installation error parameter and measured magnetic field, inclines
Angle measurement carries out the algorithm matrix operation, completes compensation function；
(5) Hard Magnetic mushing error：Fixed magnetic field interferes caused by the magnetic field synthesis of a variety of ferromagnetic materials around system
Caused measured magnetic field error inputs Hard Magnetic mushing error coefficient, Hard Magnetic mushing error program is run, by Hard Magnetic mushing error
It influences magnitude and measured magnetic field carries out the algorithm matrix operation, complete compensation function；
(6) soft magnetism mushing error：The magnetic field caused by the interference of variation magnetic field caused by soft magnetic materials magnetization phenomenon around is surveyed
Magnitude error, the interference is mainly related with environmental magnetic field and material itself, therefore inputs soft magnetism mushing error coefficient, runs soft magnetism
Mushing error model calculation program, by soft magnetism interference correlation matrix (including the environmental magnetic field factor, material factor itself) with
Measured magnetic field carries out matrix operation, completes compensation function；
(7) temperature error：Input temp error parameter, running temperature error routine pass through temperature error parameter and magnetic field
Measured value, inclination angle measured value carry out the algorithm matrix operation, and the factors such as the temperature drift of Magnetic Sensor and obliquity sensor are caused
Azimuth angle error compensate, complete temperature change caused by azimuth angle error compensating.
Embodiment 3：Referring to Fig. 7, by embodiment 2 it is found where there is significant deficiency, that is, can not turn after carrier installation
It is dynamic, it cannot achieve internal calibrations program.
At this point, before azimuth solves, first increase by first judgement, host computer inputs the finger of " whether needing to correct "
It enables, after microprocessor receives, if without correction, directly solves posture using the error parameter combination azimuth solution to prestore
If desired angle information corrects, then enter next judgement, passes through the instruction of external auxiliary correction mode or internal autonomy straightening die
Formula instructs to correct, we set the instruction of external auxiliary correction mode as pattern 1, and the instruction of internal autonomy correction mode is pattern 2, if
It is corrected using pattern 1, specific method is corrected referring to embodiment 1 according to pattern 2, then referring to embodiment 2.
Claims (5)
1. a kind of bearing calibration of electronic compass, including electronic compass, the electronic compass includes body, cover board and is located at body
Interior circuit unit, it is characterised in that：The circuit unit include data acquisition circuit, microprocessor, serial communication circuit and
Power circuit, the data acquisition circuit include magnetic sensor and obliquity sensor, and the magnetic sensor is for obtaining
The three axis earth's magnetic field value of the earth of current environment is taken, and is sent into microprocessor after signal conditioning circuit, A/D conversion circuits, institute
Terrestrial gravitation acceleration value of the obliquity sensor for obtaining current environment is stated, and is converted into inclination value, is sent into microprocessor, institute
The serial ports for stating microprocessor is connect with serial communication circuit, and the serial communication circuit with host computer for communicating, the shell
Side is equipped with communication interface plug-in unit, and the communication interface plug-in unit is for connecting serial communication circuit and power circuit；
The bearing calibration of the electronic compass includes the following steps：
(1) system initialization obtains the error of zero parameter of electronic compass, sensitivity error parameter, quadrature error parameter, installs
Error parameter, temperature error parameter, prestore as basic error parameter into microprocessor, are sensed by Magnetic Sensor and inclination angle
Device obtains the magnetic field data of Earth and inclination data of current environment respectively, is sent into microprocessor；
(2) microprocessor carries out pour angle compensation using inclination data to magnetic field data, then will be after inclination data and compensation
Magnetic field data carries out data prediction；
(3) azimuth solution is carried out according to the data that step (2) obtains；Export the azimuth number compensated without correction parameter
According to；
(4) Hard Magnetic mushing error parameter, the soft magnetism mushing error parameter for obtaining erecting bed constitute error with pedestal error parameter
Parameter；
(5) error parameter is utilized, error compensation is carried out to the data of step (3), obtains attitude angle data；
(6) attitude angle data obtained according to step (5), in conjunction with posture position compensation method, by actual coordinates coordinate origin
Move to measuring coordinate system origin.
2. the bearing calibration of electronic compass according to claim 1, it is characterised in that：Step (2) pour angle compensation
Specific method is：
(21) magnetic field strength component X, Y, Z of tri- axis of carrier coordinate system X, Y, Z are measured using magnetic sensor；
(22) gravitational acceleration component Ax, Ay, Az of tri- axis of carrier X, Y, Z is measured by obliquity sensor, it is several in conjunction with space
What calculates roll angle θ and pitch angle δ, formula are as follows：
(23) slope compensation
By the roll angle and pitch angle measured, in conjunction with magnetic field strength component X, Y, the Z measured, according to vector triangle, by it
The horizontal magnetic intensity X being transformed under terrestrial coordinate systemHAnd YH；
XH=Xcos (δ)+Ysin (θ) sin (δ)-Zcos (θ) sin (δ) (3)
YH=Ycos (θ)+Zsin (θ) (4)
3. the bearing calibration of electronic compass according to claim 1, it is characterised in that：Azimuth is asked in the step (3)
The specific method of solution is：
The X that formula (3) and (4) are found outHAnd YH, bring following formula into and find out azimuth angle alpha：
4. the bearing calibration of electronic compass according to claim 1, it is characterised in that：In the step (6), in conjunction with posture
Position compensation method is specially：
Measuring coordinate system is (x, y, z), and the attitude angle data that step (5) obtains isDisplacement data between the two isNew coordinate after translation is
Coordinate system (x after translation2,y2,z2) with the relationship of measuring coordinate system (x, y, z) be：
1) the rotation alpha angles counterclockwise about the z axis coordinate system XYZ, are transformed to coordinate system X1Y1Z；
2) coordinate system X1Y1Z is around Y1Axis is counterclockwise rotation β angle, is transformed to coordinate system X2Y1Z1；
3) coordinate system X2Y1Z1Around X2Axis rotates the angles γ counterclockwise, is transformed to coordinate system X2Y2Z2；
Rotation angle α, β, γ in above-mentioned rotary course are known as " Euler's rotation angle ", are provided by electronic compass, measuring coordinate system (x,
Y, z) pass through the coordinate system (x three times after reference axis rotation transformation to translation2,y2,z2) in, above-mentioned rotary course matrix phase
The form multiplied is expressed as
It enables
Coordinate in measuring coordinate system is
5. the bearing calibration of electronic compass according to claim 1, it is characterised in that：The body, which is adopted, to be formed from aluminium, lid
Sealing ring is equipped between plate and body.
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| CN110954081A (en) * | 2019-12-25 | 2020-04-03 | 中国船舶重工集团有限公司第七一0研究所 | Quick calibration device and method for magnetic compass |
| CN110954080A (en) * | 2019-12-25 | 2020-04-03 | 中国船舶重工集团有限公司第七一0研究所 | Magnetic compass calibration method for eliminating carrier magnetic interference |
| CN111078489A (en) * | 2018-10-19 | 2020-04-28 | 宏达国际电子股份有限公司 | Electronic device and attitude correction method thereof |
| CN111337870A (en) * | 2020-04-17 | 2020-06-26 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111765879A (en) * | 2019-11-29 | 2020-10-13 | 深圳市瑞芬科技有限公司 | Three-dimensional electronic compass device and practical calibration method |
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| CN111982155A (en) * | 2020-08-27 | 2020-11-24 | 北京爱笔科技有限公司 | Calibration method and device of magnetic sensor, electronic equipment and computer storage medium |
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