CN113640726B - 一种双轴磁强计的多方位椭圆拟合标定方法及系统 - Google Patents
一种双轴磁强计的多方位椭圆拟合标定方法及系统 Download PDFInfo
- Publication number
- CN113640726B CN113640726B CN202111212477.2A CN202111212477A CN113640726B CN 113640726 B CN113640726 B CN 113640726B CN 202111212477 A CN202111212477 A CN 202111212477A CN 113640726 B CN113640726 B CN 113640726B
- Authority
- CN
- China
- Prior art keywords
- ellipse
- azimuth
- equation
- azimuth angle
- error
- 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.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Operations Research (AREA)
- Algebra (AREA)
- Life Sciences & Earth Sciences (AREA)
- Databases & Information Systems (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Manufacturing & Machinery (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Evolutionary Biology (AREA)
- Probability & Statistics with Applications (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111212477.2A CN113640726B (zh) | 2021-10-19 | 2021-10-19 | 一种双轴磁强计的多方位椭圆拟合标定方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202111212477.2A CN113640726B (zh) | 2021-10-19 | 2021-10-19 | 一种双轴磁强计的多方位椭圆拟合标定方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113640726A CN113640726A (zh) | 2021-11-12 |
CN113640726B true CN113640726B (zh) | 2021-12-21 |
Family
ID=78427305
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111212477.2A Active CN113640726B (zh) | 2021-10-19 | 2021-10-19 | 一种双轴磁强计的多方位椭圆拟合标定方法及系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN113640726B (zh) |
Citations (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0907067A2 (de) * | 1997-10-01 | 1999-04-07 | Mannesmann VDO Aktiengesellschaft | Verfahren zur Filterung von Messdaten eines Magnetfeldsensors |
JP2004309227A (ja) * | 2003-04-03 | 2004-11-04 | Asahi Kasei Electronics Co Ltd | 計測装置、方位角計測装置及びキャリブレーションプログラム、並びにキャリブレーション方法 |
CN1715834A (zh) * | 2004-06-11 | 2006-01-04 | 雅马哈株式会社 | 用于测量地磁传感器磁偏的方法与装置以及便携电子装置 |
CN101806595A (zh) * | 2010-04-19 | 2010-08-18 | 美新半导体(无锡)有限公司 | 一种两维电子指南针校准算法 |
CN102375160A (zh) * | 2010-08-04 | 2012-03-14 | 美新半导体(无锡)有限公司 | 一种校准两轴地磁传感器软硬磁误差的方法 |
CN102597920A (zh) * | 2009-11-04 | 2012-07-18 | 高通股份有限公司 | 针对偏移、灵敏度和非正交性来校准多维传感器 |
JP2013057552A (ja) * | 2011-09-07 | 2013-03-28 | Yamaha Corp | 地磁気測定装置、地磁気測定方法、及び地磁気測定プログラム |
CN104237822A (zh) * | 2013-06-20 | 2014-12-24 | 意法半导体(中国)投资有限公司 | 用于电子磁力计传感器的补偿磁干扰 |
CN104482944A (zh) * | 2014-12-30 | 2015-04-01 | 大连楼兰科技股份有限公司 | 一种基于椭圆拟合的地磁传感器动态校准方法 |
CN104582805A (zh) * | 2012-08-17 | 2015-04-29 | 微软公司 | 动态磁力计校准 |
CN105865492A (zh) * | 2016-05-31 | 2016-08-17 | 清华大学 | 两轴磁强计在线误差补偿方法及系统 |
CN106125026A (zh) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | 一种不依赖于地磁场场量的三轴磁强计全误差参数辨识与校正方法 |
CN107024674A (zh) * | 2017-05-26 | 2017-08-08 | 北京航空航天大学 | 一种基于递推最小二乘法的磁强计现场快速标定方法 |
CN107390152A (zh) * | 2017-07-14 | 2017-11-24 | 歌尔科技有限公司 | 一种磁力计的校准方法、装置及电子设备 |
CN107607899A (zh) * | 2017-09-28 | 2018-01-19 | 歌尔科技有限公司 | 磁力计校准方法及设备 |
CN107870001A (zh) * | 2017-11-27 | 2018-04-03 | 东南大学 | 一种基于椭球拟合的磁力计校正方法 |
EP3364153A1 (en) * | 2015-10-13 | 2018-08-22 | Shanghai Huace Navigation Technology Ltd. | Method for updating all attitude angles of agricultural machine on the basis of nine-axis mems sensor |
CN108453727A (zh) * | 2018-01-11 | 2018-08-28 | 中国人民解放军63920部队 | 基于椭圆特征的机械臂末端位姿误差校正方法及系统 |
CN110163905A (zh) * | 2019-05-08 | 2019-08-23 | 武汉惟景三维科技有限公司 | 一种高精度椭圆拟合方法 |
CN111121824A (zh) * | 2020-01-03 | 2020-05-08 | 西北工业大学 | 一种mems传感器的标定方法 |
CN111780786A (zh) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | 一种三轴tmr传感器在线校准方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8825426B2 (en) * | 2010-04-09 | 2014-09-02 | CSR Technology Holdings Inc. | Method and apparatus for calibrating a magnetic sensor |
-
2021
- 2021-10-19 CN CN202111212477.2A patent/CN113640726B/zh active Active
Patent Citations (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0907067A2 (de) * | 1997-10-01 | 1999-04-07 | Mannesmann VDO Aktiengesellschaft | Verfahren zur Filterung von Messdaten eines Magnetfeldsensors |
JP2004309227A (ja) * | 2003-04-03 | 2004-11-04 | Asahi Kasei Electronics Co Ltd | 計測装置、方位角計測装置及びキャリブレーションプログラム、並びにキャリブレーション方法 |
CN1715834A (zh) * | 2004-06-11 | 2006-01-04 | 雅马哈株式会社 | 用于测量地磁传感器磁偏的方法与装置以及便携电子装置 |
CN102597920A (zh) * | 2009-11-04 | 2012-07-18 | 高通股份有限公司 | 针对偏移、灵敏度和非正交性来校准多维传感器 |
EP2497007A1 (en) * | 2009-11-04 | 2012-09-12 | Qualcomm Incorporated | Calibrating multi-dimensional sensor for offset, sensitivity, and non-orthogonality |
CN101806595A (zh) * | 2010-04-19 | 2010-08-18 | 美新半导体(无锡)有限公司 | 一种两维电子指南针校准算法 |
CN102375160A (zh) * | 2010-08-04 | 2012-03-14 | 美新半导体(无锡)有限公司 | 一种校准两轴地磁传感器软硬磁误差的方法 |
JP2013057552A (ja) * | 2011-09-07 | 2013-03-28 | Yamaha Corp | 地磁気測定装置、地磁気測定方法、及び地磁気測定プログラム |
CN104582805A (zh) * | 2012-08-17 | 2015-04-29 | 微软公司 | 动态磁力计校准 |
CN104237822A (zh) * | 2013-06-20 | 2014-12-24 | 意法半导体(中国)投资有限公司 | 用于电子磁力计传感器的补偿磁干扰 |
CN104482944A (zh) * | 2014-12-30 | 2015-04-01 | 大连楼兰科技股份有限公司 | 一种基于椭圆拟合的地磁传感器动态校准方法 |
EP3364153A1 (en) * | 2015-10-13 | 2018-08-22 | Shanghai Huace Navigation Technology Ltd. | Method for updating all attitude angles of agricultural machine on the basis of nine-axis mems sensor |
CN105865492A (zh) * | 2016-05-31 | 2016-08-17 | 清华大学 | 两轴磁强计在线误差补偿方法及系统 |
CN106125026A (zh) * | 2016-06-12 | 2016-11-16 | 哈尔滨工程大学 | 一种不依赖于地磁场场量的三轴磁强计全误差参数辨识与校正方法 |
CN107024674A (zh) * | 2017-05-26 | 2017-08-08 | 北京航空航天大学 | 一种基于递推最小二乘法的磁强计现场快速标定方法 |
CN107390152A (zh) * | 2017-07-14 | 2017-11-24 | 歌尔科技有限公司 | 一种磁力计的校准方法、装置及电子设备 |
CN107607899A (zh) * | 2017-09-28 | 2018-01-19 | 歌尔科技有限公司 | 磁力计校准方法及设备 |
CN107870001A (zh) * | 2017-11-27 | 2018-04-03 | 东南大学 | 一种基于椭球拟合的磁力计校正方法 |
CN108453727A (zh) * | 2018-01-11 | 2018-08-28 | 中国人民解放军63920部队 | 基于椭圆特征的机械臂末端位姿误差校正方法及系统 |
CN110163905A (zh) * | 2019-05-08 | 2019-08-23 | 武汉惟景三维科技有限公司 | 一种高精度椭圆拟合方法 |
CN111121824A (zh) * | 2020-01-03 | 2020-05-08 | 西北工业大学 | 一种mems传感器的标定方法 |
CN111780786A (zh) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | 一种三轴tmr传感器在线校准方法 |
Non-Patent Citations (5)
Title |
---|
NUMERICAL SIMULATIONS ON IONOSPHERIC CONTROL OF POLARIZATION OF LOW-LATITUDE GEOMAGNETIC-PULSATIONS;ITONAGA, M;《ANNALES GEOPHYSICAE-ATMOSPHERES HYDROSPHERES AND SPACE SCIENCES》;19931231;全文 * |
Statistical study of geomagnetic field line resonances observed by CHAMP and on the ground;Heilig, B;《JOURNAL OF GEOPHYSICAL RESEARCH-SPACE PHYSICS》;20131231;全文 * |
基于椭圆拟合的双轴磁传感器标定方法;李冰;《探测与控制学报》;20200630;全文 * |
弹载三轴磁强计的椭球拟合补偿方法;安亮亮;《传感器与微系统》;20201231;全文 * |
强磁干扰环境下磁航向误差补偿技术研究;袁广民;《航空工程进展》;20120531;全文 * |
Also Published As
Publication number | Publication date |
---|---|
CN113640726A (zh) | 2021-11-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4317173B2 (ja) | 移動物体の方向検出方法及びそのシステム | |
CN107917704B (zh) | 一种磁罗盘校准方法及装置、计算机可读存储介质 | |
CN109443349A (zh) | 一种姿态航向测量系统及其融合方法、存储介质 | |
JP2008076397A (ja) | 磁気の環境を考慮したコンパスセンサの較正方法,装置および媒体と、これを用いた方位角測定方法、装置および媒体 | |
CN205333067U (zh) | 一种激光摄影测量系统 | |
CN111765879A (zh) | 一种三维电子罗盘装置及实用校准方法 | |
CN114509069B (zh) | 基于蓝牙aoa和imu融合的室内导航定位系统 | |
Hoang et al. | Pre-processing technique for compass-less madgwick in heading estimation for industry 4.0 | |
CN107561489B (zh) | 基于异常检测的mls无源测向定位方法 | |
Han et al. | A novel orientation method for polarized light compass under tilted conditions | |
CN113640726B (zh) | 一种双轴磁强计的多方位椭圆拟合标定方法及系统 | |
CN116211278A (zh) | 磁定位方法及磁定位装置 | |
Zhao et al. | Robust adaptive heading tracking fusion for polarization compass with uncertain dynamics and external disturbances | |
Alkhatib et al. | Further results on a robust multivariate time series analysis in nonlinear models with autoregressive and t-distributed errors | |
CN109931956B (zh) | 捷联式三分量磁测系统中三轴磁力仪与惯导安装误差校正方法 | |
CN110375773B (zh) | Mems惯导系统姿态初始化方法 | |
CN110398702B (zh) | 一种基于多传感器融合的实时在线磁校准方法 | |
CN106092140A (zh) | 一种陀螺仪零偏估计方法 | |
CN102322845A (zh) | 测量方位角的装置及方法 | |
CN115979245A (zh) | 一种自校准估计的磁感应网络定位方法 | |
Dan et al. | Application Of Strongly Tracking Kalman Filter In MEMS Gyroscope Bias Compensation | |
CN113503891B (zh) | 一种sinsdvl对准校正方法、系统、介质及设备 | |
CN113985494A (zh) | 一种基于无迹卡尔曼算法海底地震计中电子罗盘误差补偿方法 | |
KR20050080919A (ko) | 실시간 외부자계를 자동보정하는 항법용 자기 콤파스 및이를 이용한 보정방법 | |
CN117537792B (zh) | 电子罗盘自适应方位角矫正方法 |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CB03 | Change of inventor or designer information |
Inventor after: An Liangliang Inventor after: Ma Yinghui Inventor after: Jiao Zhiwei Inventor after: Dong Lin Inventor after: Zhou Shenghong Inventor after: Yan Shulin Inventor after: Wei Peiping Inventor after: Chen Xiaozhi Inventor after: Zhang Longlong Inventor after: Liu Hailong Inventor after: Zhou Hang Inventor before: An Liangliang Inventor before: Ma Yinghui Inventor before: Jiao Zhiwei Inventor before: Dong Lin Inventor before: Zhou Shenghong Inventor before: Yan Shulin Inventor before: Wei Peiping Inventor before: Chen Xiaozhi Inventor before: Zhang Longlong Inventor before: Liu Hailong Inventor before: Zhou Hang |
|
CB03 | Change of inventor or designer information |