CN109374015A - A kind of Magnetic Sensor on-line calibration method - Google Patents
A kind of Magnetic Sensor on-line calibration method Download PDFInfo
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- CN109374015A CN109374015A CN201811066272.6A CN201811066272A CN109374015A CN 109374015 A CN109374015 A CN 109374015A CN 201811066272 A CN201811066272 A CN 201811066272A CN 109374015 A CN109374015 A CN 109374015A
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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
Abstract
The present invention relates to a kind of Magnetic Sensor on-line calibration methods, are related to Magnetic Sensor collimation technique field.The present invention is based on least square methods to carry out twice fitting, the method that Magnetic Sensor is calibrated, it is able to solve the calibration problem of Magnetic Sensor under complicated magnetic environment, after product installation, it does not need to dismantle, in the Operation and Maintenance cost that the fields navigation equipment such as using a horizontal circular movement is carried out in equipment, the high-precision calibration of magnetic heading parameter may be implemented, and existing unmanned plane, unmanned boat and unmanned vehicle can be substantially reduced.
Description
Technical field
The present invention relates to Magnetic Sensor collimation technique fields, and in particular to a kind of Magnetic Sensor on-line calibration method.
Background technique
Currently, the combination of MEMS inertia+Magnetic Sensor is as a kind of lower-cost navigation module, unmanned plane, nobody
Ship and unmanned vehicle etc. are widely adopted in fields.Magnetic Sensor therein is mainly calculated by sensitively magnetic vector direction
Magnetic heading, but since earth magnetic field intensity is very weak, only about 0.5 Gauss, therefore it is highly susceptible to extraneous various soft, Hard Magnetic environment
Interference.For example, due to the limitation of installation space inside unmanned plane, it is special often to there are various electrical equipments in Magnetic Sensor periphery
It is not the various executing agencies such as motor, steering engine, magnetic environment is sufficiently complex, and serious magnetic disturbance leads to the magnetic heading precision calculated
It is low, it is unable to satisfy use demand.Therefore, before using calculation of magnetic force magnetic heading, it is necessary to carry out magnetic under using facility environment
The influence of various extraneous magnetic disturbances is eliminated in calibration.
Existing magnetic collimation technique is broadly divided into two classes, and one kind is plane calibration method, the operation letter of this method calibration process
It is single, it is easy to user's use, but under the more serious environment of some magnetic disturbances, calibration accuracy is limited, is unable to satisfy use sometimes
Family use demand；Second is that stereo calibration method, this method calibration accuracy is higher, but calibration process is complicated for operation, for example needs
The multiple positions in space are calibrated, and when being applied in the larger equipment such as unmanned plane, unmanned boat, are not suitable for carrying out this
Class calibration operation.It is answered as can be seen that existing calibration method if it is desired to reaching preferable calibration accuracy, has calibrating patterns
Miscellaneous, the features such as calibration process is cumbersome and prover time is long, is highly detrimental to the use operation of user.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is how to solve the calibration problem of Magnetic Sensor under complicated magnetic environment.
(2) technical solution
In order to solve the above-mentioned technical problems, the present invention provides a kind of Magnetic Sensor on-line calibration methods, including following step
It is rapid:
Step 1, parameter initialization, and body is rotated horizontally, it repeats to obtain bowing for inertial navigation system detection in rotary course
Three axis of elevation angle theta and roll angle γ and Magnetic Sensor under body coordinate system export Mx、My、Mz；
Step 2 calculates the raw magnetic gradient intensity vector in multiple groups horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is based on least square
Method is fitted to obtain magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on multiple groups magnetic intensity vector H obtained in the step 21
The elliptical orbit compensation constituted is circular path, obtains magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6 is compensated elliptical orbit for circular path, meter based on the execution of magnetic calibrating parameters obtained in the step 5
Calculate compensated magnetic field strength.
Preferably, the operation of parameter initialization specifically includes in the step 1:
Initialize pure inertia course accumulated value ψsumIt is 0, count value NumψIt is 0, works as ψsumAt > 5 °, NumψCumulative 1, simultaneously will
ψsumIt resets.
Preferably, the raw magnetic gradient intensity vector in multiple groups horizontal plane is calculated in the step 2Specific packet
It includes:
Preferably, the step 3 specifically includes:
If plane ellipse at any position equation are as follows:
x2+Axy+By2+ Cx+Dy+E=0；Wherein A, B, C, D, E are equation coefficient；
Establish objective function are as follows:
N is elliptical number；
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E:
Wherein, A, B, C, D, E are respectively two-term coefficient, Monomial coefficient and the constant term system of plane arbitrary ellipse equation
Number；Bx、ByIn x, the magnetic deflection amount of y-axis caused by respectively being interfered as Hard Magnetic；φsRotation angle caused by be interfered by soft magnetism；
Kx、KyRespectively in x, the calibration factor of y-axis, so that the magnetic intensity vector rotational trajectory after calibration is a standard round；
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1Value, i.e. the oval rail of raw magnetic gradient intensity Vector Rotation
The coefficient of mark model, also according to obtained A1、B1、C1、D1、E1Value calculate to obtain magnetic calibrating parameters Bx1、By1、Kx1、Ky1、φS1。
Preferably, the step 4 specifically includes:
When judging the count value NumψWhen equal to 72, judge that organism level rotates a circle completion, and it is strong to be calculated magnetic field
Spend vectorAre as follows:
Preferably, the step 5 specifically includes:
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2's
Value, i.e., the coefficient of the elliptical orbit model for the magnetic intensity vector rotation being fitted again, and according to obtained A2、B2、
C2、D2、E2The magnetic calibrating parameters B that is calculated of valuex2、By2、Kx2、Ky2、φS2。
Preferably, compensated magnetic field strength described in the step 6 are as follows:
Preferably, it after the step 6, calculates to obtain magnetic heading angle ψ according to the compensated magnetic field strengthM:
Preferably, the Magnetic Sensor is the Magnetic Sensor for unmanned plane.
Preferably, the Magnetic Sensor is the Magnetic Sensor for unmanned boat.
(3) beneficial effect
The present invention is based on least square methods to carry out twice fitting, to the method that Magnetic Sensor is calibrated, is able to solve multiple
The calibration problem of Magnetic Sensor under miscellaneous magnetic environment does not need to dismantle after product installation, primary horizontal using carrying out in equipment
The high-precision calibration of magnetic heading parameter may be implemented in circular motion, and can substantially reduce existing unmanned plane, unmanned boat and
The Operation and Maintenance cost of the fields such as unmanned vehicle navigation equipment.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention.
Specific embodiment
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to of the invention
Specific embodiment is described in further detail.
As shown in Figure 1, a kind of Magnetic Sensor on-line calibration method for unmanned plane provided by the embodiment of the present invention, tool
Body the following steps are included:
Step 1, parameter initialization rotate horizontally body, repeat to obtain inertial navigation system detection in the rotary course
Three axis of pitching angle theta and roll angle γ, Magnetic Sensor under body coordinate system export Mx、My、Mz；
Step 2 calculates the raw magnetic gradient intensity vector in multiple groups horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is based on least square
Method is fitted magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on multiple groups magnetic intensity vector H obtained in the step 21
The elliptical orbit compensation constituted is circular path, obtains magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6 is executed again based on magnetic calibrating parameters obtained in the step 5 and compensates elliptical orbit for circumference rail
Mark calculates compensated magnetic field strength.
In a preferred embodiment of the invention, the operation of parameter initialization specifically includes in the step 1:
Initial pure inertia course accumulated value ψsumFor 0 and count value NumψIt is 0,；Work as ψsumAt > 5 °, NumψCumulative 1, together
When by ψsumIt resets.
In a preferred embodiment of the invention, the raw magnetic gradient intensity in multiple groups horizontal plane is calculated in the step 2
VectorIt specifically includes:
When ideally magnetic compass rotates one week along course, HxAnd HyThe vector vertex of synthesis is in the track of plane
One circle, but due to the interference effect of Hard Magnetic and soft magnetism, track becomes the ellipse of a deviation zero point.Therefore by the ellipse
Compensate into a circle, it can complete Magnetic Sensor parametric calibration.
Oval and circle relationship can indicate are as follows:
H1=ΦS·K·H+B
Wherein,
Represent unit circle trajectory coordinates；
Change elliptical semi-major axis and semi-minor axis, actually Kx、KyFor calibration factor, so that calibration
H afterwardsx、HyFor a standard round；
The orthogonal matrix is by one angle of ELLIPTIC REVOLUTION, actually φsTo be interfered by soft magnetism
Caused rotation angle；
Change elliptical center, actually Bx、ByIn x, the magnetic of y-axis caused by be interfered as Hard Magnetic
Offset；
Represent elliptical orbit coordinate.
As a result, in a preferred embodiment of the invention, the step 3 specifically includes:
If plane ellipse at any position equation are as follows:
x2+Axy+By2+ Cx+Dy+E=0；
Establish objective function are as follows:
N is elliptical number, is preset value.
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E:
Wherein, A, B, C, D, E are respectively the two-term coefficient (A) of plane arbitrary ellipse equation, Monomial coefficient (B, C, D)
With constant term coefficient (E)；Bx、ByIn x, the magnetic deflection amount of y-axis caused by respectively being interfered as Hard Magnetic；φsTo be drawn by soft magnetism interference
The rotation angle risen；Kx、KyRespectively in x, the calibration factor of y-axis, so that the H after calibrationx、HyIt (sees below to the specific of step 6
Description) it is a standard round.
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1(the i.e. elliptical orbit mould of raw magnetic gradient intensity Vector Rotation
The coefficient of type) value and Bx1、By1、Kx1、Ky1、φS1(according to obtained A1、B1、C1、D1、E1The magnetic mark that is calculated of value
Determine parameter).
In a preferred embodiment of the invention, the step 4 specifically includes:
When judging the count value NumψWhen equal to 72, judges the completion that rotates a circle, magnetic intensity vector is calculatedAre as follows:
In a preferred embodiment of the invention, the step 5 specifically includes:
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2(i.e.
The coefficient of the elliptical orbit model for the magnetic intensity vector rotation being fitted again) value, and calculate magnetic calibrating parameters Bx2、
By2、Kx2、Ky2、φS2(according to obtained A2、B2、C2、D2、E2The magnetic calibrating parameters that are calculated of value).
In a preferred embodiment of the invention, compensated magnetic field strength described in the step 6 are as follows:
In a preferred embodiment of the invention, after the step 6, according to the compensated oerstedmeter
Calculation obtains magnetic heading angle ψM:
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of Magnetic Sensor on-line calibration method, which comprises the following steps:
Step 1, parameter initialization, and body is rotated horizontally, the pitching angle theta for obtaining inertial navigation system detection is repeated in rotary course
M is exported with three axis of roll angle γ and Magnetic Sensor under body coordinate systemx、My、Mz；
Step 2 calculates the raw magnetic gradient intensity vector in multiple groups horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is quasi- based on least square method
Conjunction obtains magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on multiple groups magnetic intensity vector H obtained in the step 21By its structure
At elliptical orbit compensation be circular path, obtain magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6 is compensated elliptical orbit for circular path, calculating benefit based on the execution of magnetic calibrating parameters obtained in the step 5
Magnetic field strength after repaying.
2. the method as described in claim 1, which is characterized in that the operation of parameter initialization specifically includes in the step 1:
Initialize pure inertia course accumulated value ψsumIt is 0, count value NumψIt is 0, works as ψsumAt > 5 °, NumψCumulative 1, while by ψsum
It resets.
3. method according to claim 2, which is characterized in that calculate the raw magnetic gradient in multiple groups horizontal plane in the step 2
Strength vectorIt specifically includes:
4. method as claimed in claim 3, which is characterized in that the step 3 specifically includes:
If plane ellipse at any position equation are as follows:
x2+Axy+By2+ Cx+Dy+E=0；Wherein A, B, C, D, E are equation coefficient；
Establish objective function are as follows:
N is elliptical number；
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E:
Wherein, A, B, C, D, E are respectively two-term coefficient, Monomial coefficient and the constant term coefficient of plane arbitrary ellipse equation；
Bx、ByIn x, the magnetic deflection amount of y-axis caused by respectively being interfered as Hard Magnetic；φsRotation angle caused by be interfered by soft magnetism；Kx、Ky
Respectively in x, the calibration factor of y-axis, so that the magnetic intensity vector rotational trajectory after calibration is a standard round；
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1Value, i.e. the elliptical orbit mould of raw magnetic gradient intensity Vector Rotation
The coefficient of type, also according to obtained A1、B1、C1、D1、E1Value calculate to obtain magnetic calibrating parameters Bx1、By1、Kx1、Ky1、φS1。
5. method as claimed in claim 4, which is characterized in that the step 4 specifically includes:
When judging the count value NumψWhen equal to 72, judge that organism level rotates a circle completion, is calculated magnetic intensity vectorAre as follows:
6. method as claimed in claim 5, which is characterized in that the step 5 specifically includes:
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2Value, i.e.,
The coefficient of the elliptical orbit model for the magnetic intensity vector rotation being fitted again, and according to obtained A2、B2、C2、D2、E2
The magnetic calibrating parameters B that is calculated of valuex2、By2、Kx2、Ky2、φS2。
7. method as claimed in claim 6, which is characterized in that compensated magnetic field strength described in the step 6 are as follows:
8. the method for claim 7, which is characterized in that strong according to the compensated magnetic field after the step 6
Magnetic heading angle ψ is calculated in degreeM:
9. such as method described in any item of the claim 1 to 8, which is characterized in that the Magnetic Sensor is for unmanned plane
Magnetic Sensor.
10. such as method described in any item of the claim 1 to 8, which is characterized in that the Magnetic Sensor is for unmanned boat
Magnetic Sensor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108264A (en) * | 2019-05-24 | 2019-08-09 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane horizontally rotates school magnetism method in the air |
| CN110544276A (en) * | 2019-08-19 | 2019-12-06 | 西安交通大学 | Least square method ellipse fitting piston skirt maximum point size measurement method |
| CN111780786A (en) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | Online calibration method for three-axis TMR sensor |
| CN112985461A (en) * | 2021-03-25 | 2021-06-18 | 成都纵横自动化技术股份有限公司 | Magnetic sensor calibration method based on GNSS direction finding |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458728A (en) * | 2018-03-16 | 2018-08-28 | 北京扬舟科技有限公司 | A kind of Magnetic Sensor on-line calibration method for unmanned plane |
-
2018
- 2018-09-13 CN CN201811066272.6A patent/CN109374015A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108458728A (en) * | 2018-03-16 | 2018-08-28 | 北京扬舟科技有限公司 | A kind of Magnetic Sensor on-line calibration method for unmanned plane |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108264A (en) * | 2019-05-24 | 2019-08-09 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane horizontally rotates school magnetism method in the air |
| CN110108264B (en) * | 2019-05-24 | 2021-06-29 | 北京韦加无人机科技股份有限公司 | Unmanned aerial vehicle aerial horizontal rotation magnetism correction method |
| CN110544276A (en) * | 2019-08-19 | 2019-12-06 | 西安交通大学 | Least square method ellipse fitting piston skirt maximum point size measurement method |
| CN111780786A (en) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | Online calibration method for three-axis TMR sensor |
| CN112985461A (en) * | 2021-03-25 | 2021-06-18 | 成都纵横自动化技术股份有限公司 | Magnetic sensor calibration method based on GNSS direction finding |
| CN112985461B (en) * | 2021-03-25 | 2023-11-03 | 成都纵横自动化技术股份有限公司 | GNSS direction finding based magnetic sensor calibration method |
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