CN109541499A - Magnetic interference detection device and method in Multiple Source Sensor fusion - Google Patents
Magnetic interference detection device and method in Multiple Source Sensor fusion Download PDFInfo
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- CN109541499A CN109541499A CN201811204740.1A CN201811204740A CN109541499A CN 109541499 A CN109541499 A CN 109541499A CN 201811204740 A CN201811204740 A CN 201811204740A CN 109541499 A CN109541499 A CN 109541499A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
- G01R33/0029—Treating the measured signals, e.g. removing offset or noise
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
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Abstract
The invention discloses a kind of Multiple Source Sensor fusion magnetic interference detection device and methods, including self-contained sensor (1) and host computer (2), self-contained sensor (1) and host computer (2) wirelessly (3) connect, self-contained sensor (1) is responsible for data acquisition, acquisition data are transmitted to host computer (2), and host computer (2) is responsible for carrying out the operation of magnetic interference detection algorithm；Step (21), offline parameter calculation method, the off-line calculation for required parameter in the magnetic interference detection method；Step (22), online data processing method, for carrying out online magnetic interference detection.Compared with prior art, the present invention has incorporated the noise model of self-contained sensor, improves and solves electronic compass algorithm from different angles to the discrimination of magnetic interference and be easy to be influenced by magnetic disturbance, improves the precision of course estimation in Multiple Source Sensor fusion；It can be applied to the fields such as pedestrian navigation, unmanned plane, unmanned vehicle.
Description
Technical field
The present invention relates to field of measuring technique, more particularly to a kind of magnetic interference detection device and method.
Background technique
In pedestrian navigation, unmanned plane, unmanned vehicle field, Attitude estimation is of crucial importance, especially course
Estimation.In pedestrian's navigation field, position is constantly accumulated by distance and course to be calculated.Therefore, accurately course estimation helps
In the precision for improving positioning.In unmanned plane, unmanned vehicle field, the premise controlled body and car body is to body and vehicle body attitude
Perception.Therefore, accurately course estimation facilitates the control to body and car body.In the field, course is by accelerometer
Obtained by inertial navigation system calculating with gyroscope composition, but the error accumulation characteristic intrinsic due to inertial navigation system, boat
Can constantly it increase to error.Therefore it provides the basis boat that the accurate course reference pair inertial navigation system of an outside calculates
It is most important to constantly correcting, wherein the electronic compass algorithm based on magnetometer is as one of such method.But earth's magnetic field holds
Vulnerable to the influence that soft magnetism or Hard Magnetic interfere, causing electronic compass algorithm to be calculated, on the wrong tack.Therefore, electricity is being used
Before sub- compass algorithm, the disturbed condition in earth's magnetic field is judged in advance, and then decide whether to carry out navigational calibration, is to solve
One of the method that magnetic disturbance influences electronic compass algorithm.
Patent " a kind of pedestrian track projectional technique and device based on magnetic disturbance detection " (publication number CN107014388)
A kind of magnetic disturbance detection method is disclosed, the magnetic field strength at current time and the movable quadratic mean of current time magnetic field strength are calculated,
And then determine current earth's magnetic field with the presence or absence of magnetic disturbance by judgment threshold.
Summary of the invention
In order to improve the precision of course estimation in Multiple Source Sensor fusion, the invention proposes a kind of fusions of Multiple Source Sensor
Middle magnetic interference detection device and method are improved using the optimal magnetic interference detector of generalized likelihood-ratio test Theoretical Design
To the discrimination of magnetic interference.
The present invention proposes magnetic interference detection device in a kind of fusion of Multiple Source Sensor, which includes self-contained sensor
1 and host computer 2, self-contained sensor 1 and wirelessly 3 connection of host computer 2, in which:
Self-contained sensor 1 is responsible for data acquisition, and the data of acquisition are transmitted to host computer 2, host computer 2 by wireless mode 3
It is responsible for carrying out algorithm operation.
Magnetic interference detection method in a kind of Multiple Source Sensor fusion of the invention, this method comprises:
Step 21, offline parameter calculation method, the off-line calculation for required parameter in the magnetic interference detection method；
Step 22, online data processing method, for carrying out online magnetic interference detection.
The step 21 also specifically includes following processing:
Step 31, self-contained sensor is placed on static 30 minutes record data at no magnetic disturbance；
Step 32, initial magnetic field modulus value and initial geomagnetic inclination are calculated；
The initial magnetic field magnitude calculation formula is as follows:
Wherein, F0Indicate initial magnetic field modulus value；miRespectively indicate the magnetic field vector at the i-th moment；N indicates the length of data, takes
Certainly in the sampling time；I indicates data sequence number；| | | | indicate two norms.
The initial geomagnetic inclination calculation formula is as follows:
Wherein, I0Indicate initial geomagnetic inclination；IiIndicate the geomagnetic inclination at the i-th moment；iHx、iHyRespectively indicated for the i-th moment
The magnetic field strength of x under navigational coordinate system, y-axis；N indicates the length of data, depends on the sampling time；I indicates data sequence number；
Step 33, it is assumed that self-contained sensor noise model is zero mean Gaussian white noise, calculates geomagnetic inclination variance
With magnetic field modulus value variance
The geomagnetic inclination varianceCalculation formula is as follows:
Wherein, N indicates the length of data, depends on the sampling time；Indicate k moment geomagnetic inclination difference；
Indicate the set of taken data sequence number in the sampling time；Expression pair
Data carry out summation operation in sliding window；
The magnetic field modulus value varianceCalculation formula is as follows:
The step 22 also specifically includes following processing:
Step 41, current time magnetic field modulus value and current time geomagnetic inclination are calculated；
Current time magnetic field magnitude calculation is as follows:
Fk=| | mk||
Wherein, FkIndicate the magnetic field modulus value of current time k；mkRespectively indicate the magnetic field vector of current time k；| | | | table
Show two norms,
The current time geomagnetic inclination calculates as follows:
Wherein, IkIndicate current time k geomagnetic inclination；kHx、kHyRespectively indicate x, y-axis under current time k navigational coordinate system
Magnetic field strength；
Step 42, current time magnetic field modulus value difference and current time geomagnetic inclination difference are calculated；
The current time magnetic field modulus value difference calculates as follows:
Wherein,Indicate the magnetic field current time k modulus value difference；FkIndicate the magnetic field current time k modulus value；F0Described in expression
Initial magnetic field modulus value,
The current time geomagnetic inclination difference calculates as follows:
Wherein,Indicate current time k geomagnetic inclination difference；IkIndicate current time k geomagnetic inclination；I0Indicate described first
Beginning geomagnetic inclination；
Step 43, using generalized likelihood-ratio test to the current time magnetic field modulus value difference and the current time earth magnetism
Inclination angle difference is tested, and judges current magnetic field with the presence or absence of magnetic interference.
The step 43 also specifically includes following processing:
Step 51, it is as follows to calculate test statistics:
Wherein, T (yk) indicate the test statistics of data to be tested；W indicates sampling window length, value 3；It indicates
Geomagnetic inclination variance calculates gained by the offline parameter calculation method；Magnetic field modulus value variance is indicated, by the offline ginseng
Number calculating method calculates gained；Indicate the set of the taken data sequence number of sliding window；Table
Show and summation operation is carried out to data in sliding window；Indicate k moment geomagnetic inclination difference；K indicates k moment magnetic field modulus value difference；
Step 52, if the test statistics T (yk) it is greater than threshold gamma, it is believed that there are magnetic disturbances for current magnetic field；If described
Test statistics T (yk) it is less than threshold gamma, it is believed that current magnetic field is pure earth's magnetic field.
Compared with prior art, provided by the invention a kind of for improving magnetic interference detection dress in Multiple Source Sensor fusion
It sets and method, has incorporated the noise model of self-contained sensor, improved the discrimination to magnetic interference；
Further, electronic compass algorithm is solved from different angles to be easy to be influenced by magnetic disturbance, improve multi-source biography
The precision of course estimation in sensor fusion；
It can be applied to the fields such as pedestrian navigation, unmanned plane, unmanned vehicle.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the magnetic interference detection device of the embodiment of the present invention.
Fig. 2 is the flow chart of the magnetic interference detection method of the embodiment of the present invention.
Fig. 3 is the flow chart of the offline parameter calculation method of the embodiment of the present invention.
Fig. 4 is the flow chart of the online data processing method of the embodiment of the present invention.
Fig. 5 is the flow chart of the generalized likelihood-ratio test magnetic interference of the embodiment of the present invention.
Appended drawing reference: 1, self-contained sensor, 2, host computer, 3, wireless mode.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with drawings and examples.
As shown in Figure 1, on the one hand providing a kind of magnetic interference detection device for the embodiment of the present invention, which includes from packet
Containing sensor 1 and host computer 2, in which: self-contained sensor 1 and wirelessly 3 connection of host computer 2；Self-contained sensor 1
It is responsible for data acquisition, the data of acquisition are transmitted to host computer 2 by wireless mode 3, and host computer 2 is responsible for carrying out algorithm operation.It is described
Self-contained sensor 1 includes accelerometer, gyroscope and magnetometer, for measuring the acceleration, angular speed and surrounding of carrier
Magnetic Field, such as Inertial Measurement Unit.
As shown in Fig. 2, providing a kind of magnetic interference detection method for another aspect of the present invention, comprising:
Step 21, offline parameter calculation method, the off-line calculation for required parameter in the magnetic interference detection method；
Step 22, online data processing method, for carrying out online magnetic interference detection；Offline parameter calculating is first carried out
Method calculates the numerical value of required parameter in the magnetic interference detection method, and then executes online data processing method.
As shown in figure 3, the flow chart of the offline parameter calculation method for the embodiment of the present invention, detailed process include:
Step 31, self-contained sensor is placed on static 30 minutes record data at no magnetic disturbance；
Step 32, initial magnetic field modulus value and initial geomagnetic inclination are calculated；
The initial magnetic field magnitude calculation formula is as follows:
Wherein, F0Indicate initial magnetic field modulus value；miRespectively indicate the magnetic field vector at the i-th moment；N indicates the length of data, takes
Certainly in the sampling time；I indicates data sequence number；| | | | indicate two norms.
The initial geomagnetic inclination calculation formula is as follows:
Wherein, I0Indicate initial geomagnetic inclination；IiIndicate the geomagnetic inclination at the i-th moment；iHx、iHyRespectively indicated for the i-th moment
The magnetic field strength of x under navigational coordinate system, y-axis；N indicates the length of data, depends on the sampling time；I indicates data sequence number.
Step 33, it is assumed that self-contained sensor noise model is zero mean Gaussian white noise, calculates geomagnetic inclination variance
With magnetic field modulus value variance
The geomagnetic inclination varianceCalculation formula is as follows:
Wherein, N indicates the length of data, depends on the sampling time；Indicate k moment geomagnetic inclination difference；Indicate the set of taken data sequence number in the sampling time；It indicates to number in sliding window
According to progress summation operation；
The magnetic field modulus value varianceCalculation formula is as follows:
As shown in figure 4, the flow chart of the online data processing method for the embodiment of the present invention, detailed process include:
Step 41, current time magnetic field modulus value and current time geomagnetic inclination are calculated；
Current time magnetic field magnitude calculation is as follows:
Fk=| | mk||
Wherein, FkIndicate the magnetic field modulus value of current time k；mkRespectively indicate the magnetic field vector of current time k；| | | | table
Show two norms.
The current time geomagnetic inclination calculates as follows:
Wherein, IkIndicate current time k geomagnetic inclination；kHx、kHyRespectively indicate x, y-axis under current time k navigational coordinate system
Magnetic field strength.
Step 42, current time magnetic field modulus value difference and current time geomagnetic inclination difference are calculated；
The current time magnetic field modulus value difference calculates as follows:
Wherein,Indicate the magnetic field current time k modulus value difference；FkIndicate the magnetic field current time k modulus value；F0Described in expression
Initial magnetic field modulus value.
The current time geomagnetic inclination difference calculates as follows:
Wherein,Indicate current time k geomagnetic inclination difference；IkIndicate current time k geomagnetic inclination；I0Indicate described first
Beginning geomagnetic inclination.
Step 43, using generalized likelihood-ratio test to the current time magnetic field modulus value difference and the current time earth magnetism
Inclination angle difference is tested, and judges current magnetic field with the presence or absence of magnetic interference.
As shown in figure 5, the flow chart of the generalized likelihood-ratio test magnetic interference for the embodiment of the present invention, detailed process packet
It includes.
Step 51, it is as follows to calculate test statistics:
Wherein, T (yk) indicate the test statistics of data to be tested；W indicates sampling window length, value 3；It indicates
Geomagnetic inclination variance calculates gained by the offline parameter calculation method；Magnetic field modulus value variance is indicated, by the offline ginseng
Number calculating method calculates gained；Indicate the set of the taken data sequence number of sliding window；Table
Show and summation operation is carried out to data in sliding window；Indicate k moment geomagnetic inclination difference；K indicates k moment magnetic field modulus value difference.
Step 52, if the test statistics T (yk) it is greater than threshold gamma, it is believed that there are magnetic disturbances for current magnetic field；If described
Test statistics T (yk) it is less than threshold gamma, it is believed that current magnetic field is pure earth's magnetic field.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (5)
1. magnetic interference detection device in a kind of Multiple Source Sensor fusion, which is characterized in that the device includes self-contained sensor
(1) it wirelessly (3) is connected with host computer (2), self-contained sensor (1) and host computer (2), in which:
Self-contained sensor (1) is responsible for data acquisition, and the data of acquisition are transmitted to host computer (2), host computer by wireless mode (3)
2 are responsible for carrying out the operation of magnetic interference detection algorithm.
2. magnetic interference detection method in a kind of Multiple Source Sensor fusion, which is characterized in that this method comprises:
Step (21), offline parameter calculation method, the off-line calculation for required parameter in the magnetic interference detection method；Step
Suddenly (22), online data processing method, for carrying out online magnetic interference detection.
3. magnetic interference detection method in a kind of Multiple Source Sensor fusion as claimed in claim 2, which is characterized in that the step
Suddenly (21) also specifically include following processing:
Self-contained sensor is placed on static 30 minutes record data at no magnetic disturbance by step (31)；
Step (32) calculates initial magnetic field modulus value and initial geomagnetic inclination；
The initial magnetic field magnitude calculation formula is as follows:
Wherein, F0Indicate initial magnetic field modulus value；miRespectively indicate the magnetic field vector at the i-th moment；N indicates the length of data, depends on
Sampling time；I indicates data sequence number；| | | | indicate two norms.
The initial geomagnetic inclination calculation formula is as follows:
Wherein, I0Indicate initial geomagnetic inclination；IiIndicate the geomagnetic inclination at the i-th moment；iHx、iHyRespectively indicate the navigation of the i-th moment
The magnetic field strength of x under coordinate system, y-axis；N indicates the length of data, depends on the sampling time；I indicates data sequence number；
Step (33), it is assumed that self-contained sensor noise model is zero mean Gaussian white noise, calculates geomagnetic inclination varianceWith
Magnetic field modulus value variance
The geomagnetic inclination varianceCalculation formula is as follows:
Wherein, N indicates the length of data, depends on the sampling time；Indicate k moment geomagnetic inclination difference；Indicate the set of taken data sequence number in the sampling time；It indicates to number in sliding window
According to progress summation operation；
The magnetic field modulus value varianceCalculation formula is as follows:
4. a kind of Multiple Source Sensor as claimed in claim 2 merges magnetic interference detection method, which is characterized in that the step
(22) following processing is also specifically included:
Step (41) calculates current time magnetic field modulus value and current time geomagnetic inclination；
Current time magnetic field magnitude calculation is as follows:
Fk=| | mk||
Wherein, FkIndicate the magnetic field modulus value of current time k；mkRespectively indicate the magnetic field vector of current time k；| | | | indicate two
Norm,
The current time geomagnetic inclination calculates as follows:
Wherein, IkIndicate current time k geomagnetic inclination；kHx、kHyRespectively indicate the magnetic of x under current time k navigational coordinate system, y-axis
Field intensity；
Step (42, calculate current time magnetic field modulus value difference and current time geomagnetic inclination difference；
The current time magnetic field modulus value difference calculates as follows:
Wherein,Indicate the magnetic field current time k modulus value difference；FkIndicate the magnetic field current time k modulus value；F0Indicate the initial magnetic
Field modulus value,
The current time geomagnetic inclination difference calculates as follows:
Wherein,Indicate current time k geomagnetic inclination difference；IkIndicate current time k geomagnetic inclination；I0Described in indicating initially
Magnetic dip angle；
Step (43) utilizes generalized likelihood-ratio test to the current time magnetic field modulus value difference and the current time dipping magnetic inclination
Angular difference value is tested, and judges current magnetic field with the presence or absence of magnetic interference.
5. a kind of Multiple Source Sensor as claimed in claim 4 merges magnetic interference detection method, which is characterized in that the step
(43) following processing is also specifically included:
It is as follows to calculate test statistics for step (51):
Wherein, T (yk) indicate the test statistics of data to be tested；W indicates sampling window length, value 3；Indicate earth magnetism
Inclination angle variance calculates gained by the offline parameter calculation method；Magnetic field modulus value variance is indicated, by the offline parameter meter
Calculation method calculates gained；Indicate the set of the taken data sequence number of sliding window；Expression pair
Data carry out summation operation in sliding window；Indicate k moment geomagnetic inclination difference；K indicates k moment magnetic field modulus value difference；
Step (52), if the test statistics T (yk) it is greater than threshold gamma, it is believed that there are magnetic disturbances for current magnetic field；If the inspection
Statistic T (yk) it is less than threshold gamma, it is believed that current magnetic field is pure earth's magnetic field.
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