CN112461262A - Device and method for correcting errors of three-axis magnetometer - Google Patents

Device and method for correcting errors of three-axis magnetometer Download PDF

Info

Publication number
CN112461262A
CN112461262A CN202011236981.1A CN202011236981A CN112461262A CN 112461262 A CN112461262 A CN 112461262A CN 202011236981 A CN202011236981 A CN 202011236981A CN 112461262 A CN112461262 A CN 112461262A
Authority
CN
China
Prior art keywords
time
matrix
geomagnetic field
magnetometer
fitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011236981.1A
Other languages
Chinese (zh)
Inventor
寇义民
王浩
阳军军
杨峰
任维佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changsha Tianyi Space Technology Research Institute Co Ltd
Original Assignee
Changsha Tianyi Space Technology Research Institute Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Changsha Tianyi Space Technology Research Institute Co Ltd filed Critical Changsha Tianyi Space Technology Research Institute Co Ltd
Priority to CN202011236981.1A priority Critical patent/CN112461262A/en
Publication of CN112461262A publication Critical patent/CN112461262A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/007—Environmental aspects, e.g. temperature variations, radiation, stray fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/007—Environmental aspects, e.g. temperature variations, radiation, stray fields
    • G01R33/0082—Compensation, e.g. compensating for temperature changes

Abstract

The invention relates to a device and a method for correcting errors of a three-axis magnetometer, wherein the device at least comprises a satellite-borne calculation module (40), the satellite-borne calculation module (40) is respectively in communication connection with a star sensor (10), a track measurement component (20) and the three-axis magnetometer (30), and the correction mode of the satellite-borne calculation module (40) is as follows: calculating nominal earth magnetic field parameters of the current position based on attitude measurement parameters transmitted by the star sensor (10) and orbit parameters transmitted by the orbit measurement component (20); and fitting the first geomagnetic field parameter sent by the three-axis magnetometer (30) into a corrected second geomagnetic field parameter based on a least square method by taking the nominal geomagnetic field parameter as a reference value. The invention effectively eliminates the error caused by the real-time change of the satellite electromagnetic environment by generating the real-time magnetic compensation parameters.

Description

Device and method for correcting errors of three-axis magnetometer
Technical Field
The invention relates to the technical field of aerospace, in particular to a device and a method for correcting errors of a three-axis magnetometer.
Background
In recent years, three-axis magnetometers and MEMS gyroscopes are widely used in rail satellites, but are subject to severe environmental and manufacturing constraints, and in actual measurement, actual results have a great deviation from ideal data.
A magnetometer is a sensor used to measure the strength and direction of the earth's magnetic field. The measurement result of the magnetometer is needed when the satellite carries out attitude control and angular momentum unloading. An industrial-grade magnetometer is generally used in a microsatellite, and has the defects of low price, small volume and low weight, but poor stability and poor environmental adaptability. Therefore, in order to cope with the complex space environment, it is necessary to calibrate and compensate the same.
The errors of the magnetometer mainly comprise self non-orthogonal errors, scale factor errors and zero offset errors and interference magnetic field errors of the carrier. The electromagnetic environment in the satellite is relatively complex, the satellite can use the magnetic torquer when carrying out magnetic damping, and even if the satellite is not used with the magnetometer at the same time, the residual magnetic field after the magnetic torquer is used also inevitably influences the measuring result of the magnetometer. In addition to remanent magnetic interference, the magnetic interference induced by other components on the satellite is also relatively large for small satellites.
Common gyro error calibration methods include a magnetometer correction method based on a least square estimator, a magnetometer correction method based on extended kalman filtering, a TLS algorithm-based parameter estimation of a model, and the like.
Patent document CN103885020B discloses a three-axis magnetometer error correction method based on adaptive genetic algorithm, which comprises four steps, step 1: analyzing the influence of triaxial non-orthogonality on a measurement result in the working process of the triaxial magnetometer, and deducing an error correction formula of the triaxial vector sensor; step 2: establishing an optimized model for identifying inherent error parameters of the three-axis magnetometer; and step 3: identifying and solving the inherent error parameters in the optimized model identified by the inherent error parameters by using a self-adaptive genetic algorithm to obtain vector values of the inherent error parameters; and 4, step 4: and substituting the obtained vector value of the inherent error parameter of the triaxial vector sensor into an error correction formula of the triaxial vector sensor, so that the measurement error can be corrected.
Patent document CN110515023A discloses a correction method for a microsatellite three-cycle magnetometer, which analyzes the measurement error of the magnetometer, mathematically models the measurement principle of the magnetometer and establishes an error compensation model, tests the magnetometer in a magnetic coil system with variable temperature based on the error compensation model, and obtains the calibration coefficient of the magnetometer by using the magnetic field of a magnetic environment simulator and the output voltage of the magnetometer and the pseudo-inverse principle based on the least square; and carrying out temperature modeling on the magnetometer, carrying out linear fitting on the calibration coefficient and the temperature, and carrying out temperature compensation on the measurement of the magnetometer.
However, in the prior art, the simulated triaxial magnetic field in the zero-magnetic laboratory still has a difference from the real geomagnetic field environment, and the calibration result may change after the satellite is acquired. Moreover, the electromagnetic environment in the satellite is changed, the temperature is also changed, the result of ground calibration is better when the satellite initially enters the orbit, and the error of the satellite after running for a period of time is increased. The existing technical scheme still cannot accurately correct and update the error of the positive triaxial magnetometer after the last day in real time.
Furthermore, on the one hand, due to the differences in understanding to the person skilled in the art; on the other hand, since the inventor has studied a lot of documents and patents when making the present invention, but the space is not limited to the details and contents listed in the above, however, the present invention is by no means free of the features of the prior art, but the present invention has been provided with all the features of the prior art, and the applicant reserves the right to increase the related prior art in the background.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a device for correcting errors of a three-axis magnetometer, which at least comprises a satellite borne calculation module, and is characterized in that the satellite borne calculation module is respectively in communication connection with a star sensor, a track measurement component and the three-axis magnetometer, wherein the correction mode of the satellite borne calculation module is as follows:
calculating a nominal geomagnetic field parameter for the current position based on the attitude measurement parameter sent by the star sensor and the orbit parameter sent by the orbit measurement component;
and fitting the first geomagnetic field parameter sent by the three-axis magnetometer into a corrected second geomagnetic field parameter based on a least square method by taking the nominal geomagnetic field parameter as a reference value.
Preferably, the fitting model for correcting the first geomagnetic field parameter by the satellite-borne calculation module based on the least square method is as follows: z is AX + B;
wherein Z is a nominal geomagnetic field under a spacecraft body coordinate system, A is an error coefficient array, and A is0Is a 3 × 3 identity matrix; b is the error offset, B0＝[0 0 0](ii) a X is a magnetometer measurement.
Preferably, the satellite-borne calculation module calculates the correction coefficient of the first geomagnetic field based on a least square method in a manner that:
calculating a fitting coefficient array at the moment K in an iterative manner to obtain a coefficient AKAnd BK；
Figure BDA0002766020240000031
Wherein, XKIs a 3X4 row matrix;
AKis composed of XKFitting a coefficient matrix formed by the first three rows of data in the coefficient matrix, BKIs composed of XKAnd fitting a coefficient matrix formed by the last row of data in the coefficient matrix.
Preferably, XK+1＝XK+PK+1*H′K*(ZK-HK*XK)，
Wherein, XK+1Representing the array of fitting coefficients, X, at time K +1KRepresenting the array of fitting coefficients at time K, AKRepresenting the array of error coefficients at time K,BKindicating the error offset at time K; pK+1Denotes the P matrix at time K +1, HKRepresenting the magnetometer measurements at time K, ZKRepresenting the nominal magnetic field calculated from the attitude measurement parameters and the orbit parameters at time K.
Preferably, P isK+1＝PK-PK*H′K*(1+HK*PK*K′K)-1*HK*PK
PK+1Denotes the P matrix at time k +1, PKRepresenting the P matrix at time k, P0Is a 12 × 12 identity matrix, HKIndicating the magnetometer measurements at time K.
The invention also provides a method for correcting errors of the three-axis magnetometer, which is characterized by at least comprising the following steps: calculating a nominal geomagnetic field parameter of the current position based on the state measurement parameter and the track parameter;
and fitting the first geomagnetic field parameter to a corrected second geomagnetic field parameter based on a least square method by taking the nominal geomagnetic field parameter as a reference value.
Preferably, the fitting model for correcting the first geomagnetic field parameter based on the least square method is as follows:
Z＝AX+B；
wherein Z is a nominal geomagnetic field under a spacecraft body coordinate system, A is an error coefficient array, and A is0Is a 3 × 3 identity matrix; b is the error offset, B0＝[0 0 0](ii) a X is a magnetometer measurement.
Preferably, the method of calculating the correction coefficient of the first geomagnetic field based on the least square method is:
calculating a fitting coefficient array at the moment K in an iterative manner to obtain a coefficient AKAnd BK；
Figure BDA0002766020240000041
Wherein, XKIs a 3X4 row matrix;
AKis composed of XKCoefficient of fitCoefficient matrix formed by the first three rows of data in the matrix, BKIs composed of XKAnd fitting a coefficient matrix formed by the last row of data in the coefficient matrix.
Preferably, XK+1＝XK+PK+1*H′K*(ZK-HK*XK)，
Wherein, XK+1Representing the array of fitting coefficients, X, at time K +1KRepresenting the array of fitting coefficients at time K, AKRepresenting the error coefficient matrix at time K, BKIndicating the error offset at time K; pK+1Denotes the P matrix at time K +1, HKRepresenting the magnetometer measurements at time K, ZKRepresenting the nominal magnetic field calculated from the attitude measurement parameters and the orbit parameters at time K.
Preferably, P isK+1＝PK-PK*H′K*(1+HK*PK*H′K)-1*HK*PK
PK+1Denotes the P matrix at time k +1, PKRepresenting the P matrix at time k, P0Is a 12 × 12 identity matrix, HKIndicating the magnetometer measurements at time K.
The invention has the beneficial technical effects that:
(1) based on the actual in-orbit data of the magnetometer, the fitting result is more accurate;
(2) the nominal magnetic field under the system of the satellite is calculated by utilizing the orbit and attitude data and is used as the input of a least square estimator, so that various error sources can be unified, and noises including temperature influence, electromagnetic interference and the like can be eliminated.
Drawings
FIG. 1 is a schematic diagram of the structure of the apparatus for correcting errors in a three-axis magnetometer of the present invention;
FIG. 2 is a logic diagram of the method of correcting errors in a three-axis magnetometer of the present invention.
List of reference numerals
10: a star sensor; 20: a track receiving assembly; 30: a three-axis magnetometer; 40: a satellite-borne calculation module; 41: a nominal geomagnetic field module; 42: a magnetic field module; 43: a data processing module; 44: and a correction module.
Detailed Description
The following detailed description is made with reference to the accompanying drawings.
Although the prior art can correct the triaxial magnetometer, the calibrated result may change after the satellite is acquired by simulating the triaxial magnetic field and the real geomagnetic field environment in the zero-magnetic laboratory. The invention uses real on-orbit parameters for calibration, and can eliminate errors caused by experimental environment.
In the prior art, the electromagnetic environment in the satellite is changed, the temperature is also changed, the result of ground calibration is good when the satellite is initially in orbit, and the error of the satellite is increased after the satellite operates for a period of time. Aiming at the defect, the invention carries out real-time compensation on the measurement value of the magnetometer on the basis of ground calibration so as to improve the measurement precision.
Example 1
In view of the deficiencies of the prior art, the present invention provides an apparatus for correcting errors of a three-axis magnetometer, which at least comprises a satellite-borne computing module 40 for correcting magnetic field parameters of the three-axis magnetometer, as shown in fig. 1. The satellite-borne computing module 40 establishes communication connections with the star sensor 10, the orbit measurement component 20 and the three-axis magnetometer 30 on the satellite, respectively.
The star sensor 10 is used for sending the attitude measurement parameters of the spacecraft to the spaceborne computing module 40. The orbit measurement assembly 20 comprises a Global Navigation Satellite System (GNSS) receiver or a device for injecting orbit parameters through the ground. The orbit measurement component 20 is configured to send the orbit parameters of the receiving and/or acquiring spacecraft to the on-board computation module 40. The three-axis magnetometer 30 is used to measure a first geomagnetic field parameter including magnetic induction and send the first geomagnetic field parameter to the on-board computation module 40.
The satellite-borne calculation module 40 is configured to correct the first geomagnetic field parameter to the corrected second geomagnetic field parameter based on a least square method. The on-board computing module 40 may be an application specific integrated chip with data computing processing capabilities, a server, a processor, and a group of servers.
Preferably, the on-board computation module 40 comprises at least a nominal earth magnetic field module 41, a magnetic field module 42 and a data processing module 43. The geomagnetic field calibration module 41 is configured to calculate and process the received attitude measurement parameters and orbit parameters to restore the nominal geomagnetic field parameters of the current position of the spacecraft. According to the method, the obtained on-orbit real parameters of the three-axis magnetometer are fitted, so that the obtained fitting result is more accurate.
The magnetic field module 42 is used for preprocessing the received first geomagnetic field parameter and screening out error parameters with larger errors. The data processing module 43 is configured to fit the first geomagnetic field parameter based on a least square method with the nominal magnetic field parameter as a reference value, and obtain a corrected second geomagnetic field parameter. The method processes the first geomagnetic field parameter acquired by the first triaxial magnetometer in real time, generates the magnetic compensation parameter in real time, and can effectively eliminate errors caused by real-time change of the satellite electromagnetic environment.
Preferably, a fitting model of the magnetic field strength of the magnetometer is provided in the data processing module 43:
Z＝AX+B。
wherein Z is the nominal earth magnetic field under the satellite body coordinate system, A is the error coefficient array, A0Is a 3 × 3 identity matrix. B is the error offset, B0＝[0 0 0]. X is a magnetometer measurement.
Wherein, XK+1＝XK+PK+1*H′K*(ZK-HK*XK)
XKIs a 3x4 matrix of correction coefficients,
Figure BDA0002766020240000071
wherein A isKIs XK3x 3 matrix formed by the first three rows of coefficients of the matrix, BKIs XKAnd the last row of coefficients of the matrix forms the matrix. Obtaining X by the K iterative calculationKThereby obtaining AKAnd BK。
XK+1Is a matrix of fitting coefficients at time k +1, XKIs a matrix of fitting coefficients at time k, X0Calibrated for the groundInitial fitting parameters.
Wherein, PK+1＝PK-PK*H′K*(1+HK*PK*H′K)-1*HK*PK
PK+1P matrix at time k +1, PKP matrix at time k, P0Is a 12 × 12 identity matrix.
HKAs the magnetometer measurement at time k. H'KIs HKA transposed matrix of matrices.
HKA 12 x 3 matrix of the form:
Figure BDA0002766020240000081
where Bbx is the x-axis magnetic field measurement, Bby is the y-axis magnetic field measurement, and Bbz is the z-axis magnetic field measurement.
ZKA first geomagnetic field parameter calculated from the attitude measurement parameter and the orbit parameter for time k. ZKIn the form of: zK＝[Brx Bry Brz]。
Where Brx is the x-axis magnetic field measurement, Bry is the y-axis magnetic field measurement, and Brz is the z-axis magnetic field measurement.
And obtaining a correction coefficient matrix or correction coefficients through the fitting operation of a least square method of multi-order fitting.
And correcting the first geomagnetic field parameter measured by the three-axis magnetometer based on the correction coefficient to obtain an accurate second geomagnetic field parameter.
According to the method, the orbit parameters and the attitude measurement parameters are used for calculating the first geomagnetic field parameters under the spacecraft system to serve as input information of the data processing module 43, fitting is carried out through the least square method, and various error sources can be unified. For example, noise including temperature effects, electromagnetic interference, etc. may be eliminated.
Preferably, the on-board computation module of the present invention may further include at least one filter to obtain the accurate second geomagnetic field parameter through a polynomial fitting of a higher degree.
Preferably, the satellite-borne computing module of the present invention further includes a correction module 44, configured to correct the first geomagnetic field parameter to the second geomagnetic field parameter according to the correction coefficient. Preferably, the correction module 44 further stores the corrected second geomagnetic field data.
Example 2
The invention also provides a method for correcting errors of the three-axis magnetometer, which at least comprises the following steps:
s1: starting;
s2: receiving or collecting attitude measurement parameters, orbit parameters and first geomagnetic field parameters;
s3: calculating a nominal geomagnetic field parameter of the current position based on the attitude measurement parameter and the track parameter;
s4: calculating an error coefficient of the geomagnetic field by taking the nominal geomagnetic field parameter as a reference value;
s5: and fitting the first geomagnetic field parameter based on a least square method to obtain a corrected second geomagnetic field parameter.
The method for calculating the nominal geomagnetic field parameter of the current position based on the attitude measurement parameter and the orbit parameter comprises the following steps:
(1) under the premise of knowing the speed and the position of the low earth microsatellite under a J2000 coordinate system, greenwich mean year, month and day information and coordinated universal time UTC, obtaining a coordinate transformation matrix W from the J2000 coordinate system to a geocentric geodesic coordinate system, ECEF for short, through a time-of-arrival transformation matrix P and an earth rotation transformation matrix R, and further expressing the speed and the position vector of the microsatellite under the ECEF;
(2) according to the position of the microsatellite under the ECEF, the geocentric longitude lambda, the geocentric latitude and the geocentric distance Rd of the position of the microsatellite are obtained by using an inverse trigonometric function and longitude and latitude quadrant conditions;
(3) expressing the magnetic potential of the geomagnetic field according to a geomagnetic field potential function theory by using a geomagnetic field spherical harmonic coefficient updated in 2010 of the international geomagnetic reference field;
(4) calculating the magnetic potential of the geomagnetic field to obtain the north component, the east component and the vertical component of the geomagnetic field, and expressing the geomagnetic field strength B in a north-east coordinate system;
(5) and solving an included angle alpha between the northeast coordinate system and the orbit coordinate system by using the position and the speed of the microsatellite under the J2000 coordinate system to obtain a coordinate conversion matrix between the northeast coordinate system and the orbit coordinate system, and further obtain an expression of the geomagnetic field intensity of the position of the microsatellite under the orbit coordinate system.
The method for fitting the first geomagnetic field parameter based on the least square method by taking the nominal geomagnetic field parameter as a reference value comprises the following steps: the fitting model for setting the magnetic field intensity of the magnetometer is as follows: and Z is AX + B.
Wherein Z is the nominal earth magnetic field under the satellite body coordinate system, A is the error coefficient array, A0Is a 3 × 3 identity matrix. B is the error offset, B0＝[0 0 0]. X is a magnetometer measurement.
Wherein, XK+1＝XK+PK+1*H′K*(ZK-HK*XK)
XKIs a 3x4 matrix of correction coefficients,
Figure BDA0002766020240000101
XK+1is a matrix of fitting coefficients at time k +1, XKIs a matrix of fitting coefficients at time k, X0And calibrating initial fitting parameters for the ground.
Wherein, PK+1＝PK-PK*H′K*(1+HK*PK*H′K)-1*HK*PK
PK+1P matrix at time k +1, PKP matrix at time k, P0Is a 12 × 12 identity matrix.
HKAs the magnetometer measurement at time k. H'KIs HKA transposed matrix of matrices.
HKA 12 x 3 matrix of the form:
Figure BDA0002766020240000102
where Bbx is the x-axis magnetic field measurement, Bby is the y-axis magnetic field measurement, and Bbz is the z-axis magnetic field measurement.
ZKA first geomagnetic field parameter calculated from the attitude measurement parameter and the orbit parameter for time k. ZKIn the form of: zK＝[Brx Bry Brz]。
Where Brx is the x-axis magnetic field measurement, Bry is the y-axis magnetic field measurement, and Brz is the z-axis magnetic field measurement.
And obtaining a correction coefficient matrix or correction coefficients through the fitting operation of a least square method of multi-order fitting.
And correcting the first geomagnetic field parameter measured by the three-axis magnetometer based on the correction coefficient to obtain an accurate second geomagnetic field parameter.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. A device for correcting errors of a three-axis magnetometer at least comprises a satellite borne computing module (40), and is characterized in that the satellite borne computing module (40) is respectively in communication connection with a star sensor (10), a track measuring component (20) and a three-axis magnetometer (30),
the correction mode of the satellite-borne calculation module (40) is as follows:
calculating nominal earth magnetic field parameters of the current position based on attitude measurement parameters transmitted by the star sensor (10) and orbit parameters transmitted by the orbit measurement component (20);
and fitting the first geomagnetic field parameter sent by the three-axis magnetometer (30) into a corrected second geomagnetic field parameter based on a least square method by taking the nominal geomagnetic field parameter as a reference value.
2. The apparatus for correcting errors of a three-axis magnetometer of claim 1 wherein the on-board computation module (40) corrects the fitted model of the first geomagnetic field parameter based on a least squares method to be:
Z＝AX+B；
wherein Z is a nominal geomagnetic field under a spacecraft body coordinate system, A is an error coefficient array, and A is0Is a 3 × 3 identity matrix; b is the error offset, B0＝[0 0 0](ii) a X is a magnetometer measurement.
3. The apparatus for correcting errors of a three-axis magnetometer according to claim 2, wherein the on-board computation module (40) computes the correction coefficient of the first geomagnetic field based on a least squares method by:
calculating a fitting coefficient array at the moment K in an iterative manner to obtain a coefficient AKAnd BK；
Figure FDA0002766020230000021
Wherein, XKIs a 3X4 row matrix;
AKis composed of XKFitting a coefficient matrix formed by the first three rows of data in the coefficient matrix, BKIs composed of XKAnd fitting a coefficient matrix formed by the last row of data in the coefficient matrix.
4. The apparatus for correcting errors of a three-axis magnetometer of claim 3,
XK+1＝XK+PK+1*H′K*(ZK-HK*XK)，
wherein, XK+1Representing the array of fitting coefficients, X, at time K +1KRepresenting the array of fitting coefficients at time K, AKRepresenting the error coefficient matrix at time K, BKIndicating the error bias at time KMoving amount; pK+1Denotes the P matrix at time K +1, HKRepresenting the magnetometer measurements at time K, ZKRepresenting the nominal magnetic field calculated from the attitude measurement parameters and the orbit parameters at time K.
5. The apparatus for correcting errors of a three-axis magnetometer of claim 3,
PK+1＝PK-PK*H′K*(1+HK*PK*H′K)-1*HK*PK
PK+1denotes the P matrix at time k +1, PKRepresenting the P matrix at time k, P0Is a 12 × 12 identity matrix, HKIndicating the magnetometer measurements at time K.
6. A method of correcting errors in a three-axis magnetometer, the method comprising at least: calculating a nominal geomagnetic field parameter of the current position based on the state measurement parameter and the track parameter;
and fitting the first geomagnetic field parameter to a corrected second geomagnetic field parameter based on a least square method by taking the nominal geomagnetic field parameter as a reference value.
7. The method of correcting errors in a three-axis magnetometer of claim 6 wherein the fitted model based on least squares correction of the first geomagnetic field parameter is:
Z＝AX+B；
wherein Z is a nominal geomagnetic field under a spacecraft body coordinate system, A is an error coefficient array, and A is0Is a 3 × 3 identity matrix; b is the error offset, B0＝[0 0 0](ii) a X is a magnetometer measurement.
8. The method of correcting errors of a three-axis magnetometer of claim 7 wherein the first geomagnetic field correction coefficient is calculated based on a least squares method by:
iteratively calculating the fitting coefficient matrix at time K, fromTo obtain the coefficient AKAnd BK；
Figure FDA0002766020230000031
Wherein, XKIs a 3X4 row matrix;
AKis composed of XKFitting a coefficient matrix formed by the first three rows of data in the coefficient matrix, BKIs composed of XKAnd fitting a coefficient matrix formed by the last row of data in the coefficient matrix.
9. The method of correcting errors in a three-axis magnetometer of claim 8,
XK+1＝XK+PK+1*H′K*(ZK-HK*XK)，
wherein, XK+1Representing the array of fitting coefficients, X, at time K +1KRepresenting the array of fitting coefficients at time K, AKRepresenting the error coefficient matrix at time K, BKIndicating the error offset at time K; pK+1Denotes the P matrix at time K +1, HKRepresenting the magnetometer measurements at time K, ZKRepresenting the nominal magnetic field calculated from the attitude measurement parameters and the orbit parameters at time K.
10. The method of correcting errors in a three-axis magnetometer of claim 8,
PK+1＝PK-PK*H′K*(1+HK*PK*H′K)-1*HK*PK
PK+1denotes the P matrix at time k +1, PKRepresenting the P matrix at time k, P0Is a 12 × 12 identity matrix, HKIndicating the magnetometer measurements at time K.
CN202011236981.1A 2020-11-06 2020-11-06 Device and method for correcting errors of three-axis magnetometer Pending CN112461262A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011236981.1A CN112461262A (en) 2020-11-06 2020-11-06 Device and method for correcting errors of three-axis magnetometer

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011236981.1A CN112461262A (en) 2020-11-06 2020-11-06 Device and method for correcting errors of three-axis magnetometer

Publications (1)

Publication Number Publication Date
CN112461262A true CN112461262A (en) 2021-03-09

Family

ID=74826019

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011236981.1A Pending CN112461262A (en) 2020-11-06 2020-11-06 Device and method for correcting errors of three-axis magnetometer

Country Status (1)

Country Link
CN (1) CN112461262A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113094371A (en) * 2021-04-14 2021-07-09 嘉兴毕格智能科技有限公司 Method for realizing user-defined coordinate system
CN113639763A (en) * 2021-07-05 2021-11-12 南京理工大学 Temperature compensation method based on geomagnetic sensor
CN114280523A (en) * 2021-12-25 2022-04-05 南京理工大学 Correction alignment method of flux gate magnetometer array
CN115200610A (en) * 2022-07-15 2022-10-18 大连理工大学 Simple AMU magnetic calibration device and method without turntable

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014134710A1 (en) * 2013-03-05 2014-09-12 Trusted Positioning Inc. Method and apparatus for fast magnetometer calibration
US20170089706A1 (en) * 2015-09-24 2017-03-30 Microsoft Technology Licensing, Llc Magnetometer arrays for inertial navigation, mapping, and drift compensation
CN107054702A (en) * 2017-02-15 2017-08-18 上海航天控制技术研究所 Earth's magnetic field analogy method in a kind of semi-physical simulation test
CN107544042A (en) * 2016-06-29 2018-01-05 中国科学院电子学研究所 A kind of magnetometer array correcting method
CN108151765A (en) * 2017-12-27 2018-06-12 中国电子科技集团公司第五十四研究所 Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error
CN110006460A (en) * 2019-05-09 2019-07-12 上海微小卫星工程中心 Star sensor and magnetometer relative Calibration method and system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014134710A1 (en) * 2013-03-05 2014-09-12 Trusted Positioning Inc. Method and apparatus for fast magnetometer calibration
US20170089706A1 (en) * 2015-09-24 2017-03-30 Microsoft Technology Licensing, Llc Magnetometer arrays for inertial navigation, mapping, and drift compensation
CN107544042A (en) * 2016-06-29 2018-01-05 中国科学院电子学研究所 A kind of magnetometer array correcting method
CN107054702A (en) * 2017-02-15 2017-08-18 上海航天控制技术研究所 Earth's magnetic field analogy method in a kind of semi-physical simulation test
CN108151765A (en) * 2017-12-27 2018-06-12 中国电子科技集团公司第五十四研究所 Attitude positioning method is surveyed in a kind of positioning of online real-time estimation compensation magnetometer error
CN110006460A (en) * 2019-05-09 2019-07-12 上海微小卫星工程中心 Star sensor and magnetometer relative Calibration method and system

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
于靖: "红外与地磁复合的旋转弹体姿态测试理论与方法研究", 《中国优秀博士学位论文全文数据库工程科技II辑》 *
刘洋: ""南理工一号立方星姿态确定与控制系统硬件设计及半物理仿真"", 《中国优秀硕士学位论文全文数据库工程科技II辑》 *
孟健: ""三轴磁强计误差分析与校正研究"", 《中国优秀硕士学位论文全文数据库工程科技II辑》 *
龙礼等: "基于递推最小二乘法的地磁测量误差校正方法", 《仪器仪表学报》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113094371A (en) * 2021-04-14 2021-07-09 嘉兴毕格智能科技有限公司 Method for realizing user-defined coordinate system
CN113639763A (en) * 2021-07-05 2021-11-12 南京理工大学 Temperature compensation method based on geomagnetic sensor
CN113639763B (en) * 2021-07-05 2022-08-16 南京理工大学 Temperature compensation method based on geomagnetic sensor
CN114280523A (en) * 2021-12-25 2022-04-05 南京理工大学 Correction alignment method of flux gate magnetometer array
CN114280523B (en) * 2021-12-25 2023-11-21 南京理工大学 Correction alignment method for fluxgate magnetometer array
CN115200610A (en) * 2022-07-15 2022-10-18 大连理工大学 Simple AMU magnetic calibration device and method without turntable

Similar Documents

Publication Publication Date Title
Springmann et al. Attitude-independent magnetometer calibration with time-varying bias
CN107270893B (en) Lever arm and time asynchronous error estimation and compensation method for real estate measurement
CN112461262A (en) Device and method for correcting errors of three-axis magnetometer
Gebre-Egziabher et al. A non-linear, two-step estimation algorithm for calibrating solid-state strapdown magnetometers
CN107024674B (en) A kind of magnetometer method for quick field calibration based on least square method of recursion
US6860023B2 (en) Methods and apparatus for automatic magnetic compensation
CN105371844B (en) A kind of inertial navigation system initial method based on inertia/astronomical mutual assistance
CN108827310A (en) A kind of star sensor secondary gyroscope online calibration method peculiar to vessel
Soken et al. UKF-based reconfigurable attitude parameters estimation and magnetometer calibration
CN104698485A (en) BD, GPS and MEMS based integrated navigation system and method
CN108387227A (en) The multinode information fusion method and system of airborne distribution POS
Gebre-Egziabher Magnetometer autocalibration leveraging measurement locus constraints
CN109000639B (en) Attitude estimation method and device of multiplicative error quaternion geomagnetic tensor field auxiliary gyroscope
CN110133692B (en) Inertial navigation technology-assisted high-precision GNSS dynamic inclination measurement system and method
CN111121766A (en) Astronomical and inertial integrated navigation method based on starlight vector
KR101211703B1 (en) Calibration method of the magnetometer error using a line of sight vector and the integrated navigation system using the same
CN109708663B (en) Star sensor online calibration method based on aerospace plane SINS assistance
CN113291493B (en) Method and system for determining fusion attitude of multiple sensors of satellite
CN113281824A (en) Aviation magnetic compensation method considering airplane non-rigidity and polarized current factors
CN110849360A (en) Distributed relative navigation method for multi-machine cooperative formation flight
CN112325886A (en) Spacecraft autonomous attitude determination system based on combination of gravity gradiometer and gyroscope
CN115754861A (en) Satellite magnetometer on-orbit calibration method
CN109084755B (en) Accelerometer zero offset estimation method based on gravity apparent velocity and parameter identification
CN116753987A (en) Triaxial geomagnetic sensor error calibration method
Zhang et al. Analysis of key technologies in geomagnetic navigation

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination