CN109541708A - A method of trivector field is measured using double-shaft sensor - Google Patents
A method of trivector field is measured using double-shaft sensor Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
Abstract
The present invention discloses a kind of method using double-shaft sensor measurement trivector field, first exports to the two dimension of double-shaft sensor, by compensating itself the two-dimentional error of zero, nonorthogonality error and sensitivity error, to obtain accurately two dimension output；Recycling local vector field strength is the constraint of definite value, acquires the third trivector field value of trivector field；Non-aligned error is carried out to this trivector field afterwards, final trivector field value is obtained with this.The present invention is not necessarily to other aiding sensors, can eliminate reduction because of sensor because odjective cause bring error influences, low in cost, accuracy is high.
Description
Technical field
The present invention relates to sensor technical fields, and in particular to a kind of side using double-shaft sensor measurement trivector field
Method.
Background technique
Gravitational field and earth's magnetic field are trivector fields generally existing at the earth's surface, and anywhere, size and
It can be considered constant in the short-term of direction.Therefore, acceleration transducer (also known as accelerometer) and Magnetic Sensor (also known as magnetic strength are utilized
Meter) three-dimensional component in gravitational field and earth's magnetic field is measured, be obtain orientation and posture information one kind it is simple and effective and
The method being generally used.However, accelerometer and magnetometer are inevitably due to factors such as manufacturing process and environmental changes
There are error, the zero bias of including but not limited to each axis, sensitivity (or scale factor) error, non-orthogonal errors, between centers interference
Deng further including the soft magnetism as caused by the magnetic material of sensor proximity and Hard Magnetic interference for magnetometer, therefore existing three
There is also biggish errors for the measurement of n dimensional vector n field.
Summary of the invention
To be solved by this invention is that the measurement of existing trivector field has large error, provides a kind of use
The method of double-shaft sensor measurement trivector field.
To solve the above problems, the present invention is achieved by the following technical solutions:
A method of trivector field is measured using double-shaft sensor, is included the following steps:
Double-shaft sensor is placed in tested trivector field by step 1, obtains the output valve v of double-shaft sensor；Wherein:
Step 2 subtracts zero-bit zero-deviation matrix with the output valve v of double-shaft sensor, and it is compensated defeated to obtain zero drift
Value v ' out；Wherein:
Step 3, output valve v ' compensated to zero drift are orthogonalized, and obtain the compensated output of non-orthogonal errors
Value v "；Wherein:
The compensated output valve v " of non-orthogonal errors is normalized step 4, i.e., after compensating non-orthogonal errors
Output valve v " respectively divided by the mould of be expert at error coefficient, obtain the compensated output valve u ' of sensitivity error, i.e. twin shaft passes
The unit quadrature component of sensor X-axis and Y-axis；Wherein:
Step 5 utilizes vector field intensity u0This constraint relationship of certain constant is remained, it is obtained double based on step 4
The unit quadrature component of axle sensor X-axis and Y-axis calculates the unit quadrature component u ' of double-shaft sensor Z axis3；Wherein:
Step 6 constructs tested vector based on step 4 and 5 obtained double-shaft sensor X-axis, Y-axis and Z axis quadrature component
The three-dimensional vector u ' of field, and the non-aligned error compensation of the three-dimensional vector u ' carry out coordinate system to tested vector field, it is accurate to obtain
Tested vector field three-dimensional vector u；Wherein:
In the above formulas, v1For the X-axis output valve of double-shaft sensor, v2For the Y-axis output valve of double-shaft sensor；v′1It is zero
X-axis output valve after the deviation compensation of position, v '2For the compensated Y-axis output valve of zero drift；b1For the X-axis zero-bit of double-shaft sensor
Deviation, b2For the Y-axis zero drift of double-shaft sensor；v1It " is the compensated X-axis output valve of non-orthogonal errors, v2It " is nonopiate
Y-axis output valve after error compensation；C is orthogonalization coefficient,u1' exported for the compensated X-axis of sensitivity error
Value, i.e., the unit quadrature component of double-shaft sensor X-axis used, u2' it is the compensated Y-axis output valve of sensitivity error, i.e., it is used
The unit quadrature component of double-shaft sensor Y-axis, u '3For the Z axis quadrature component for being tested vector field, i.e., double-shaft sensor Z axis used
Unit quadrature component；u0For the intensity for being tested vector field；L is non-aligned error coefficient matrix.
In above-mentioned steps 1, when tested trivector field is gravitational field, the double-shaft sensor is two-axis acceleration sensing
Device；When tested trivector field is earth's magnetic field, the double-shaft sensor is two-axis magnetometer.
Compared with prior art, the present invention carries out the structure of error model by the double-shaft sensor to measurement trivector field
It builds, according to the constraint of local vector field, error compensation is carried out to output valve and is calculated, error model is solved, three can be calculated
The trivector of n dimensional vector n field is not necessarily to other aiding sensors, can eliminate reduction because sensor is because of odjective cause bring error
It influences, low in cost, accuracy is high.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of device that trivector field is measured using double-shaft sensor.
Fig. 2 is a kind of method flow diagram that trivector field is measured using double-shaft sensor.
Fig. 3 is the process flow diagram of microprocessor.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific example, and referring to attached
Figure, the present invention is described in more detail.
In view of the various objective problems such as sensor itself manufacturing process and use environment, there are inevitable errors, originally
Invention first exports the two dimension of double-shaft sensor, is missed by compensating itself the two-dimentional error of zero, nonorthogonality error and sensitivity
Difference, to obtain accurately two dimension output；Recycling local vector field strength is the constraint of definite value, acquires the third of trivector field
Trivector field value；Non-aligned error is carried out to this trivector field afterwards, final trivector field value is obtained with this.
A kind of device using double-shaft sensor measurement trivector field, as shown in Figure 1, it is mainly by power module, double
Axle sensor, signal conditioning module, analog-to-digital conversion module and microprocessor composition.Power module is responsible for including double-shaft sensor
Other each units inside charge, which can be DC power supply or battery module, to carry out outdoor nothing
Measurement under power conditions.Double-shaft sensor is responsible for measuring tested vector field and obtaining signal, and signal is sent to letter
Number conditioning module.Signal conditioning module is responsible for handling the signal of double-shaft sensor, and signal is sent to by treated
Analog-to-digital conversion module.Analog-to-digital conversion module be responsible for carrying out the output valve of signal condition analog-to-digital conversion so as to subsequent microprocessor into
Row processing.Microprocessor is responsible for that the signal of analog-to-digital conversion is compensated and calculated, and exports the numerical value of final trivector field.
A method of trivector field being measured using double-shaft sensor, steps are as follows as shown in Fig. 2, it is specifically included:
Double-shaft sensor (double-shaft acceleration sensor or magnetometer) is placed in tested trivector field by step 1, is obtained
The corresponding measurement data of measurement data, X-axis and Y-axis is respectively x1And x2。
The measurement data of acquisition is sent into the corresponding signal condition of signal conditioning module progress by step 2, obtains x1' and x2′。
Data after signal condition are sent into analog-to-digital conversion module progress analog-to-digital conversion by step 3, obtain v1And v2。
Double-shaft sensor is placed in tested trivector field, any time in measurement process, tested vector field is
Gravitational field or earth's magnetic field, have three-dimensional component, and sensor used then has two dimension output v=(v1 v2)T, and tested vector field is strong
Degree remainsWherein u0For known constant.
Double-shaft sensor (gravity accelerometer or magnetometer) used has linearity error model: v=ku+b, wherein
The parameter of k, b and v are it is known that being unfolded in error model v=ku+b:
Wherein, v is the measurement data of double-shaft sensor, v1、v2It is two axis output valves of double-shaft sensor respectively；By twin shaft
Two axis of sensor are referred to as X-axis and Y-axis；In addition, and will be perpendicular to the third axis of two axial plane of double-shaft sensor and be known as Z
Axis.K is error coefficient matrix, wherein each element in the inside represents different error coefficients.Due to manufacturing process and environmental change
Etc. factors odjective cause, cause between two axis of double-shaft sensor that sensitivity is not quite identical, become sensitivity error, usually go back quilt
Referred to as demarcate factor error；Wherein k11, k22The respectively sensitivity error system of double-shaft sensor horizontal direction and vertical direction
Number；Because two between centers of double-shaft sensor caused by the reasons such as manufacturing process and with do not keep strict orthogonal so that two axis may be deposited
In the tested vector value of vector field in the other direction, such case becomes non-orthogonal errors；Wherein k12For double-shaft sensor water
The non-orthogonal errors coefficient of flat axis and vertical axes；k13Non-orthogonal errors system between double-shaft sensor trunnion axis and vertical axis
Number；k21For the non-orthogonal errors coefficient of double-shaft sensor vertical axes and trunnion axis；k23For the vertical axes on double-shaft sensor and hang down
Non-orthogonal errors coefficient between d-axis.U is three mutually orthogonal components of tested vector field.B is zero drift, i.e. constant
Error；When tested vector field is zero, and sensor exports position zero, this error can have zero drift b=(b1,b2)TCarry out table
Show, zero drift is constant value.
In addition, because sensor coordinate system and carrier coordinate system cannot be completely coincident, there are certain non-aligned error, this
When, introduce three-dimensional square matrix L, i.e., non-aligned error coefficient matrix describes this error.Wherein, the element value of non-aligned error coefficient
Use Lxy, x, y ∈ (1.3) are indicated, wherein subscript x indicates that sensor coordinate system, y indicate carrier coordinate system, and 1 is expressed as coordinate
The X-axis of system, 2 be the Y-axis of coordinate system, and 3 be Z axis.Such as: L12It is expressed as between the X-axis of sensor coordinate system and carrier coordinate system Y-axis
Non-aligned error.
In the present embodiment, if the intensity of tested vector field is u0=9.8, double-shaft sensor used has error model:
Setting tested vector field again has following 5 groups of truthful datas, wherein third component u3Symbol is positive:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| u1 | 1.781 | 5.286 | -1.174 | 6.276 | 6.967 |
| u2 | 6.074 | 1.954 | 0.927 | -3.059 | -0.606 |
| u3 | 7.482 | 8.017 | 9.685 | 6.877 | 6.865 |
Step 4, by the data v Jing Guo analog-to-digital conversion1And v2It is sent into compensation calculation and processing that microprocessor carries out error.
Microprocessor calculate to error model and error compensation, process include compensating zero drift, non-orthogonal errors,
Sensitivity error etc., finally obtains two-dimensional vector.Pass through this compensated two-dimensional vectorAnd when earth's magnetic field constraint into
Row calculates, and obtains third n dimensional vector nThe non-aligned mistake of sensor coordinate system is finally compensated again
Difference obtains acquiring the three-dimensional component of tested vector field in error model, and exports final result.Referring to Fig. 3.
The first step obtains sensor output:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| v1 | 0.573 | 3.617 | -2.822 | 4.478 | 5.259 |
| v2 | 7.473 | 2.294 | 2.623 | -3.532 | -0.974 |
Second step compensates zero drift.
Since zero drift is constant value, output valve, that is, v of double-shaft sensor is used, zero-bit zero-deviation matrix b is subtracted,
That is v '=v-b can eliminate the error of zero, and obtaining compensated output valve is v '1With v '2It is as follows:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| v′1 | 0.873 | 3.917 | -2.522 | 4.778 | 5.559 |
| v′2 | 7.073 | 1.894 | 2.223 | -3.932 | -1.374 |
Third step compensates non-orthogonal errors.
Due to the non-orthogonal situation of double-shaft sensor twin shaft that may be present, two dimension is exported after eliminating zero drift
Value is orthogonalized, and two vectors of orthogonalization can be obtained, and is compensated existing non-orthogonal errors, is obtained compensated output valve
Respectively v "1With v "2,Wherein c is orthogonalization coefficient, value are as follows:
Value v " after then compensating non-orthogonal errors1With v "2It is as follows:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| v″1 | 0.873 | 3.917 | -2.522 | 4.778 | 5.559 |
| v″2 | 7.215 | 2.527 | 1.815 | -3.160 | -0.475 |
4th step compensates sensitivity error.
Since two axis sensitivity of double-shaft sensor is different, by v after treatment "1With v "2Amount of quadrature carries out normalizing
Change processing, i.e., can compensate for sensitivity error divided by the mould of be expert at error coefficient respectively；Compensated output valve is obtained to be denoted as
u′1With u '2.Wherein error coefficient v "1With v "2Mould be respectively as follows:
Thus the output valve u ' after obtaining compensation sensitivity error1With u '2It is as follows:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| u′1 | 0.907 | 4.067 | -2.618 | 4.961 | 5.772 |
| u′2 | 6.490 | 2.274 | 1.633 | -2.842 | -0.427 |
5th step solves third component.
The second-four step of front, which has obtained, compensates for the error of zero, and two after non-orthogonal errors and sensitivity error are orthogonal
Vector calculates the third quadrature component of tested vector field using the constraint that vector field intensity remains certain constant, i.e., will about
The quadratic sum of beam constant value square subtracted by compensated two quadrature components, is square of third quadrature component,
It is opened radical sign and obtains third component, be denoted as u '3, haveIt is as follows:
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| u′3 | 7.287 | 8.621 | 9.301 | 7.959 | 7.909 |
Using the third component of solution as third element value, at this point, u '1, u '2, u '3Constitute a three-dimensional vector, table
It is shown as u '=(u '1 u′2 u′3)T。
6th step compensates the non-aligned error of sensor coordinate system.
The non-aligned error model of coordinate system is represented by u=Lu ', and u ' need to only be done to premultiplication L matrix, and L is 3*3 matrix,
You can get it eliminates non-aligned error, obtains the script trivector value u of vector field.
The matrix L of non-aligned error should be a unit orthogonal matrix, and its value is 1, and coefficient can be by as follows in the L matrix
It acquires:
1) sensors X axis error coefficient will be respectively represented in the determinant K of representative sensor error coefficient in error model
It is orthogonalized with the first row element of sensor Y-axis error coefficient and the second row element, to eliminate quadrature error.It obtains:
Wherein orthogonalization coefficient c are as follows:
2) the middle the first row of k ' and the second row element difference is unitization, obtain the first row and the second column element of matrix L.Again
Third column element is acquired by the way that unit is orthogonal.
3) u ' is done into premultiplication L matrix, you can get it eliminates non-aligned error, obtains the script trivector value u of vector field.
It is computed, the non-aligned error parameter matrix L of sensor coordinate system and carrier coordinate system is as follows:
U ' is done into premultiplication L matrix, you can get it eliminates non-aligned error, obtains the script trivector value u of vector field1、u2
And u3。
| 1st group | 2nd group | 3rd group | 4th group | 5th group | |
| u1 | 1.781 | 5.286 | -1.174 | 6.276 | 6.967 |
| u2 | 6.074 | 1.954 | 0.927 | -3.059 | -0.606 |
| u3 | 7.482 | 8.017 | 9.685 | 6.877 | 6.865 |
Step 5, by last operation, three accurate vector values after the final process of vector field will be by microprocessor
Output.
All error parameters in linearity error model are fully compensated, i.e., (v are exported by sensor1 v2)TIt is anti-to release
Three-dimensional component (the u of tested vector field1 u2 u3)T。
It should be noted that although the above embodiment of the present invention be it is illustrative, this be not be to the present invention
Limitation, therefore the invention is not limited in above-mentioned specific embodiment.Without departing from the principles of the present invention, all
The other embodiment that those skilled in the art obtain under the inspiration of the present invention is accordingly to be regarded as within protection of the invention.
Claims (2)
1. a kind of method using double-shaft sensor measurement trivector field, characterized in that include the following steps:
Double-shaft sensor is placed in tested trivector field by step 1, obtains the output valve v of double-shaft sensor；Wherein:
Step 2 subtracts zero-bit zero-deviation matrix with the output valve v of double-shaft sensor, obtains the compensated output valve of zero drift
v′；Wherein:
Step 3, output valve v ' compensated to zero drift are orthogonalized, and obtain the compensated output valve of non-orthogonal errors
v″；Wherein:
The compensated output valve v " of non-orthogonal errors is normalized step 4, i.e., non-orthogonal errors are compensated defeated
Value v " obtains the compensated output valve u ' of sensitivity error, i.e. double-shaft sensor X respectively divided by the mould of be expert at error coefficient out
The unit quadrature component of axis and Y-axis；Wherein:
Step 5 utilizes vector field intensity u0This constraint relationship of certain constant is remained, based on the obtained twin shaft sensing of step 4
The unit quadrature component of device X-axis and Y-axis calculates the unit quadrature component u ' of double-shaft sensor Z axis3；Wherein:
Step 6 constructs tested vector field based on step 4 and 5 obtained double-shaft sensor X-axis, Y-axis and Z axis quadrature component
Three-dimensional vector u ', and the non-aligned error compensation of the three-dimensional vector u ' carry out coordinate system to tested vector field, obtain accurately quilt
Survey the three-dimensional vector u of vector field；Wherein:
In the above formulas, v1For the X-axis output valve of double-shaft sensor, v2For the Y-axis output valve of double-shaft sensor；v1' it is that zero-bit is inclined
The compensated X-axis output valve of difference, v2' it is the compensated Y-axis output valve of zero drift；b1It is inclined for the X-axis zero-bit of double-shaft sensor
Difference, b2For the Y-axis zero drift of double-shaft sensor；v1It " is the compensated X-axis output valve of non-orthogonal errors, v2It " is nonopiate mistake
The compensated Y-axis output valve of difference；C is orthogonalization coefficient,u1' exported for the compensated X-axis of sensitivity error
Value, i.e., the unit quadrature component of double-shaft sensor X-axis used, u2' it is the compensated Y-axis output valve of sensitivity error, i.e., it is used
The unit quadrature component of double-shaft sensor Y-axis, u '3For the Z axis quadrature component for being tested vector field, i.e., double-shaft sensor Z axis used
Unit quadrature component；u0For the intensity for being tested vector field；L is non-aligned error coefficient matrix.
2. a kind of method using double-shaft sensor measurement trivector field according to claim 1, characterized in that step
In 1, when tested trivector field is gravitational field, the double-shaft sensor is double-shaft acceleration sensor；When tested three-dimensional arrow
When amount field is earth's magnetic field, the double-shaft sensor is two-axis magnetometer.
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