CN114689085A - Magnetic sensor online calibration method based on main inertial navigation data backup attitude and heading reference system - Google Patents

Magnetic sensor online calibration method based on main inertial navigation data backup attitude and heading reference system Download PDF

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CN114689085A
CN114689085A CN202210326043.3A CN202210326043A CN114689085A CN 114689085 A CN114689085 A CN 114689085A CN 202210326043 A CN202210326043 A CN 202210326043A CN 114689085 A CN114689085 A CN 114689085A
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attitude
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李荣冰
陈海明
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Zhenjiang Jielian Navigation And Automation Technology Co ltd
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Abstract

The invention discloses a magnetic sensor online calibration method based on a main inertial navigation data backup attitude and heading reference system, which comprises the steps of firstly obtaining the measurement error of a magnetic sensor according to the true value of an aircraft attitude angle, recording the error, designing the sufficiency inspection standard of an error recording file, and then carrying out validity verification by utilizing the online calibration of the magnetic sensor; the simulation result of the invention shows that the designed magnetic sensor online calibration method is not limited by position factors, has good universality, effectively improves the course angle output precision of the micro-inertial heading attitude system, has the advantages of scientificity, reasonableness, strong applicability, good effect and the like, and is suitable for wide popularization and application.

Description

Magnetic sensor online calibration method based on main inertial navigation data backup attitude and heading reference system
Technical Field
The invention relates to the technical field of magnetic sensor calibration, in particular to a magnetic sensor online calibration method based on a main inertial navigation data backup attitude and heading reference system.
Background
The backup micro-inertia attitude heading reference module is a backup system of a main inertial navigation attitude reference system of the airplane, can receive attitude information from the main inertial navigation when the main inertial navigation of the airplane normally works, and provides the attitude information for the airplane when the main inertial navigation of the airplane fails.
At present, a heading angle is corrected by utilizing a magnetic heading angle in a heading attitude module, so that the calibration result is inaccurate due to different magnetic field environments, the time required by calibration is long, and the correction precision is poor; therefore, an online calibration method for a magnetic sensor based on a primary inertial navigation data backup attitude and heading reference system needs to be designed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an online calibration method of a magnetic sensor based on a main inertial navigation data backup attitude and heading system, which aims to better and effectively solve the problem that the correction precision of the heading angle is poor by using the magnetic heading angle in the attitude and heading module at present.
In order to achieve the purpose, the invention adopts the technical scheme that:
the magnetic sensor on-line calibration method based on the main inertial navigation data backup attitude and heading reference system comprises the following steps,
step (A), acquiring a measurement error of a magnetic sensor according to a true value of an attitude angle of the airplane and recording the error;
designing an error recording file sufficiency inspection standard;
and (C) verifying the validity by utilizing the online calibration of the magnetic sensor.
The online calibration method of the magnetic sensor based on the primary inertial navigation data backup attitude and heading reference system comprises the following steps of (A) obtaining the measurement error of the magnetic sensor according to the true value of the attitude angle of the aircraft and recording the error,
step (A1), obtaining the measurement error of the magnetic sensor according to the true value of the attitude angle of the airplane, and the geomagnetic vector H in the flying process of the airplanegProjection H on the machine systembAs shown in the formula (1),
Figure BDA0003573503060000021
wherein h is the magnetic vector modulus; e is an included angle between the magnetic north direction and the true north direction, namely a magnetic declination;
Figure BDA0003573503060000022
is a conversion matrix of a northeast geographical coordinate system turning to a right front upper machine body coordinate system; defining the course angle, roll angle and pitch angle of the airplane as
Figure BDA0003573503060000023
Gamma and theta;
Figure BDA0003573503060000024
then as shown in the formula (2),
Figure BDA0003573503060000025
measuring magnetic vector h of magnetic sensoroutIs a true value H of the geomagnetic vectorbPlus measurement error bi', as shown in the formula (3),
hout＝Hb+b′i (3)
wherein, b'i＝[b'xi b'yi b'zi]TIs a module output attitude angle of
Figure BDA0003573503060000026
The output error of the magnetic sensor at the time, the equation (3) can be converted as shown in the equation (4),
b′i＝hout-Hb (4)；
a step (A2) of recording the magnetic sensor error and outputting the attitude angle to the module when storing the magnetic sensor output error
Figure BDA0003573503060000027
And in the attitude angle stateError b'iAll are stored, and each frame of error data contains the number N of effective error values under the stateiAnd the average error value of each axis
Figure BDA0003573503060000028
And
Figure BDA0003573503060000029
and the error data is stored by a double-precision floating-point type four-dimensional array.
In the method for calibrating the magnetic sensor on line based on the main inertial navigation data backup attitude and heading reference system, step (B) is to design an error record file sufficiency check standard, when the main inertial navigation of the aircraft is abnormal, the micro-inertial attitude and heading reference module can perform the compass compensation according to the error file stored in the learning stage, but before that, the sufficiency of the compass compensation condition needs to be checked, and the checking content is to judge the full-range coverage condition of the error file to the heading angle and the full-range coverage condition of the error record file to the horizontal attitude angle under a certain horizontal attitude angle state, and the specific steps are as follows,
step (B1), at a certain fixed horizontal attitude angle thetaiAnd gammaiUnder the state, the coverage condition of the error file to the whole range of the heading angle is shown as an equation (5),
Figure BDA0003573503060000031
where dis is the error recording resolution,
Figure BDA0003573503060000037
representing the total number of error recording points covering the full course angular range at that resolution,
Figure BDA0003573503060000032
is the confidence level of an error recording point, and defines the effective error data amount at the recording point as
Figure BDA0003573503060000033
ntdIs a set threshold;
Figure BDA0003573503060000034
as shown in the formula (6),
Figure BDA0003573503060000035
step (B2), when the horizontal attitude angle changes, the full attitude coverage of the error file is shown in formula (7),
Figure BDA0003573503060000036
wherein N isγ＝360/dis，N θ180/dis; since the roll angle and the pitch angle are not maintained to be large for a long time while the aircraft is flying, the smaller the horizontal attitude angle is, the larger the contribution of the error coverage in this state to the overall coverage is, and vice versa, so that the formula (7) can be rewritten as shown in the formula (8),
Figure BDA0003573503060000041
when the resolution approaches 0 infinitely, the formula (8) can be rewritten as shown in the formula (9),
Figure BDA0003573503060000042
wherein if the module is capable of recording sufficient magnetic sensor error data in each attitude state, that is
Figure BDA0003573503060000043
Cvr reached a maximum of 0.0625.
The magnetic sensor online calibration method based on the master inertial navigation data backup attitude and heading reference system comprises a step (C) of verifying effectiveness by utilizing online calibration of the magnetic sensor, and specifically comprises the steps of effectiveness verification analysis of the magnetic sensor online calibration method at different positions and magnetic heading angle accuracy improvement effect and universality analysis of the magnetic sensor online calibration method.
In the magnetic sensor online calibration method based on the main inertial navigation data backup attitude and heading reference system, step (C1), validity verification analysis is performed on the magnetic sensor online calibration method at different positions, and the specific steps include performing error calibration and compensation on the magnetic sensor at two different positions, recording an error with an attitude angle resolution of 1 °, and comparing geomagnetic vectors measured by the magnetic sensor before and after error compensation with each other and projecting the geomagnetic vectors on a horizontal plane.
In the magnetic sensor online calibration method based on the master inertial navigation data backup attitude and heading reference system, in the step (C2), the magnetic sensor online calibration method performs the effect of improving the accuracy and the universality of the magnetic heading angle, and specifically, the method performs error calibration on two different magnetic sensor modules, and calculates the magnetic heading angle by using the magnetic vector information after error compensation every 30 degrees when the micro-inertial attitude and heading reference module outputs the heading angle in the variation range of 0 degree to 360 degrees.
The invention has the beneficial effects that: the invention relates to a magnetic sensor online calibration method based on a main inertial navigation data backup attitude and heading system, which is characterized in that error calibration and compensation are carried out on a magnetic sensor based on airplane main inertial navigation data, and because the calibration is carried out in the airplane flying process, the problem of inaccurate calibration result caused by different magnetic field environments can be effectively avoided, the time and the economic cost required by calibration can be greatly reduced, the method is not limited by position factors, has good universality, and the course angle output precision of a micro inertial attitude and heading system is effectively improved.
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FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a diagram of a four-dimensional array format for storage with a double-precision floating-point type four-dimensional array according to the present invention;
FIG. 3 is a schematic diagram showing the distribution of magnetic vectors in a horizontal plane before error correction according to the present invention;
FIG. 4 is a comparison graph of the magnetic vector distribution in the horizontal plane before and after error correction at position 1 according to the present invention,
FIG. 5 is a comparison graph of magnetic vector distribution in the horizontal plane before and after error correction at position 2 of the present invention;
FIG. 6 is a schematic view of the corrected course angle accuracy of the magnetic sensor No. 1 according to the present invention;
FIG. 7 is a schematic diagram of the accuracy of the heading angle of the magnetic sensor No. 2 after error correction.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-7, the method for calibrating a magnetic sensor on line based on a primary inertial navigation data backup attitude and heading reference system of the present invention includes the following steps,
step (A), according to the true value of the attitude angle of the airplane, obtaining the measurement error of the magnetic sensor and recording the error, the concrete steps are as follows,
step (A1), obtaining the measurement error of the magnetic sensor according to the true value of the attitude angle of the airplane, and the geomagnetic vector H in the flying process of the airplanegProjection H on the machine systembAs shown in the formula (1),
Figure BDA0003573503060000051
wherein h is the magnetic vector modulus; e is an included angle between the magnetic north direction and the true north direction, namely a magnetic declination;
Figure BDA0003573503060000052
is a conversion matrix of a northeast geographical coordinate system turning to a right front upper machine body coordinate system; defining the heading angle, roll angle and pitch angle of the airplane as
Figure BDA0003573503060000053
Gamma and theta;
Figure BDA0003573503060000054
then as shown in the formula (2),
Figure BDA0003573503060000061
measuring magnetic vector h of magnetic sensoroutIs a true value H of the geomagnetic vectorbPlus measurement error b'iAs shown in the formula (3),
hout＝Hb+b′i (3)
wherein, b'i＝[b'xi b'yi b'zi]TIs a module output attitude angle of
Figure BDA0003573503060000062
The output error of the magnetic sensor at the time, the equation (3) can be converted as shown in the equation (4),
b′i＝hout-Hb (4)；
a step (A2) of recording the magnetic sensor error and outputting the attitude angle to the module when storing the magnetic sensor output error
Figure BDA0003573503060000063
And an error b in the attitude angle statei' all are stored, and each frame of error data contains the number N of effective error values in the stateiAnd the average error value of each axis
Figure BDA0003573503060000064
And
Figure BDA0003573503060000065
and the error data is stored by a double-precision floating point type four-dimensional array;
in the working process of the module, not only one error is acquired in each attitude angle state, but all errors in the state are not needed in error compensation; therefore, under the condition of comprehensively considering the storage space and judging the data validity, the module does not store the values of all the sensor errors at a certain attitude position; the frame number of the error data is related to the attitude angle resolution, the higher the resolution is, the more the frame number of the error data is, the higher the magnetic heading angle compensation precision is, but the error data can be lost under a certain attitude, and the more the required storage space is; after the resolution of the attitude angle is determined, the space required by error storage of the magnetic sensor can be determined to be a certain fixed value; since the error file needs to be frequently queried by the module in the error compensation stage and the storage space of the error file is fixed, the error data is stored by using a double-precision floating-point type four-dimensional array, and the format of the four-dimensional array is shown in fig. 2.
Designing an error recording file sufficiency inspection standard, when the main inertial navigation of the aircraft is abnormal, carrying out error compensation by the micro inertial attitude heading module according to an error file stored in a learning stage, wherein the sufficiency of the error compensation condition needs to be checked before the error file is subjected to error compensation, the checking content is that the full-range coverage condition of the error file on a course angle and the full-range coverage condition of the error recording file on a horizontal attitude angle under a certain horizontal attitude angle state are judged, and the method specifically comprises the following steps:
in the flying process of the airplane, maneuvering is unlikely to be carried out in the attitude ranges of the full roll angle and the pitch angle, so the inspection is mainly focused on judging the full-range coverage condition of the error file on the course angle in a certain horizontal attitude angle state;
a step (B1) of setting the horizontal attitude angle theta at a fixed leveliAnd gammaiUnder the state, the coverage condition of the error file to the whole range of the heading angle is shown as an equation (5),
Figure BDA0003573503060000071
where dis is the error recording resolution,
Figure BDA0003573503060000072
representing the total number of error recording points covering the full course angular range at that resolution,
Figure BDA0003573503060000073
is the confidence level of an error recording point, and defines the effective error data amount at the recording point as
Figure BDA0003573503060000074
ntdIs a set threshold;
Figure BDA0003573503060000075
as shown in the formula (6),
Figure BDA0003573503060000076
step (B2), when the horizontal attitude angle changes, the full attitude coverage of the error file is shown in formula (7),
Figure BDA0003573503060000077
wherein N isγ＝360/dis，N θ180/dis; since the large roll angle and pitch angle are not maintained for a long time while the aircraft is flying, the smaller the horizontal attitude angle is, the greater the contribution of the error coverage in this state to the overall coverage is, and vice versa, so that the formula (7) can be rewritten as shown in the formula (8),
Figure BDA0003573503060000081
when the resolution approaches 0 infinitely, the formula (8) can be rewritten as shown in the formula (9),
Figure BDA0003573503060000082
wherein if the module is capable of recording sufficient magnetic sensor error data in each attitude state, that is
Figure BDA0003573503060000083
Cvr reached a maximum of 0.0625 at this point;
when error compensation repeatability check is carried out, if the coverage rate of the error record is closer to 0.0625, the reliability of the error record is higher; considering the actual task background of the airplane, after the main inertial navigation fails, the sufficiency of the error file can be only checked when the horizontal attitude angle is smaller; if the error recording file is sufficient when the horizontal attitude angle is small, the error file may be considered to satisfy the condition for performing error correction on the magnetic sensor.
And (C) verifying the effectiveness by utilizing the online calibration of the magnetic sensor, wherein the specific steps are the effectiveness verification analysis of the online calibration method of the magnetic sensor at different positions and the magnetic heading angle accuracy improvement effect and universality analysis of the online calibration method of the magnetic sensor.
Step (C1), the magnetic sensor on-line calibration method validity verification analysis at different positions, its concrete step is to carry on the error calibration and compensation to the magnetic sensor at two different positions, the attitude angle resolution recorded in the error is 1 degrees, compare the geomagnetism vector that the magnetic sensor measures before and after the error compensation projects on the horizontal plane;
after the measurement error of the magnetic sensor is compensated, the projection of the measured geomagnetic vector on a horizontal plane is distributed in a perfect circle; if the projections of the geomagnetic vectors measured by the magnetic sensors after error compensation at two different positions on the horizontal plane are closer to a perfect circle, the magnetic sensors have good effectiveness at different positions.
Step (C2), the magnetic sensor online calibration method carries out error calibration on two different magnetic sensor modules, and calculates the magnetic heading angle by using the magnetic vector information after error compensation every 30 degrees within the variation range of the heading angle output by the micro inertial heading attitude module from 0 degree to 360 degrees;
if the magnetic heading angle accuracy measured by the two magnetic sensors is improved after error compensation, the online calibration method for the magnetic sensors is proved to be capable of effectively improving the magnetic heading accuracy and have good universality.
To better illustrate the effectiveness of the present invention, the following analysis is performed in conjunction with a specific embodiment of the present invention.
Firstly, the effectiveness of the online calibration method of the magnetic sensors at different positions is verified and analyzed.
In this embodiment, the main inertial navigation data in the flight test and the output data of the magnetic sensor obtained through simulation are selected to verify the online calibration scheme of the magnetic sensor, the resolution of the attitude angle is selected to be 1 °, and the aircraft is in a steady maneuvering state in most of the time during the flight of the aircraft, and the horizontal attitude angle of the aircraft is near 0 °. Firstly, error calibration and compensation are carried out on the output of the magnetic sensor when the roll angle and the pitch angle are zero, and at the moment, an error array is degraded into a two-dimensional array.
After the calibration of the magnetic sensor when the horizontal attitude angle is zero is finished, the output of the magnetic sensor at two different positions is corrected by using the error obtained by the calibration, and the magnetic field distribution in the horizontal plane is used as the verification of the calibration effect. As shown in fig. 3, which is the magnetic field distribution in the unmodified horizontal plane at two locations, the outer two curves and the inner two curves represent the in-plane magnetic field distribution at location 1 and location 2, respectively. Fig. 4 and 5 are comparison graphs of magnetic field distribution in the horizontal plane before and after the magnetic sensor data correction at the position 1 and the position 2, where the right dot line represents the magnetic field distribution before the error correction, and the left dot-dash line represents the magnetic field distribution after the error calibration and compensation.
As can be seen from fig. 3, the magnetic vector distributions measured by the magnetic sensors at two different positions are substantially the same, which indicates that the magnetic field environment has good consistency when the position is changed. As is apparent from fig. 4 and 5, after the error correction, the distribution of the geomagnetic vector in the horizontal plane is closer to a perfect circle, and the center of the circle is closer to the origin. The online calibration and compensation of the magnetic sensor are feasible, and when the position of the airplane changes, the online calibration result can still effectively correct the magnetic sensor, which provides a basis for the effectiveness of the online calibration method.
And secondly, analyzing the magnetic course angle precision improving effect and universality by using the magnetic sensor online calibration method.
And calibrating errors of two different magnetic sensor modules, and calculating course angle true values by using the magnetic vector information after the error compensation every 30 degrees within the variation range of 0-360 degrees of the course angle output by the attitude and heading module. The accuracy of the output course angle of the two magnetic sensors is respectively shown in fig. 6 and fig. 7, the rectangular boxes in the two figures represent the maximum value, the minimum value, the median value and the dispersion degree of the course angle error after the error compensation at the course angle position, and the broken line represents the fluctuation condition of the error median value.
It can be seen from fig. 6 and 7 that after the error compensation, the maximum error of the heading angle measured by the magnetic sensor No. 1 is less than 0.4 °, the mean value of the median of the errors is 0.14 °, and the variance of the median is 0.09 °; the maximum error of the course angle measured by the No. 2 magnetic sensor is less than 0.6 degrees, the mean value of the median error is 0.16 degrees, and the variance of the median error is 0.11 degrees. The method shows that after error compensation, the magnetic heading angle measurement precision has good repeatability and stability, calibration conditions of different magnetic sensors show that the method has good universality, and the effectiveness and the correctness of the online calibration method are further verified.
In summary, according to the online calibration method of the magnetic sensor based on the primary inertial navigation data backup attitude and heading reference system, firstly, the measurement error of the magnetic sensor is obtained according to the true value of the attitude angle of the aircraft, the error is recorded, then, the sufficiency inspection standard of the error recording file is designed, and then, the online calibration of the magnetic sensor is utilized to verify the effectiveness; the method is used for calibrating and compensating errors of the magnetic sensor based on the aircraft main inertial navigation data, and because the calibration is carried out in the aircraft flying process, the problem of inaccurate calibration result caused by different magnetic field environments can be effectively solved, the time and the economic cost required by calibration can be greatly reduced, the method is not limited by position factors, the method has good universality, and the course angle output precision of the micro inertial attitude and heading system is effectively improved.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (6)

1. The magnetic sensor online calibration method based on the main inertial navigation data backup attitude and heading reference system is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
step (A), acquiring a measurement error of a magnetic sensor according to a true value of an attitude angle of the airplane and recording the error;
designing an error recording file sufficiency inspection standard;
and (C) verifying the validity by utilizing the online calibration of the magnetic sensor.
2. The magnetic sensor online calibration method based on the primary inertial navigation data backup attitude and heading reference system according to claim 1, characterized in that: step (A), according to the true value of the attitude angle of the airplane, obtaining the measurement error of the magnetic sensor and recording the error, the concrete steps are as follows,
step (A1), obtaining the measurement error of the magnetic sensor according to the true value of the attitude angle of the airplane, and the geomagnetic vector H in the flying process of the airplanegProjection H on the machine systembAs shown in the formula (1),
Figure FDA0003573503050000011
wherein h is the magnetic vector modulus; e is an included angle between the magnetic north direction and the true north direction, namely a magnetic declination;
Figure FDA0003573503050000012
is a conversion matrix of a northeast geographical coordinate system turning to a right front upper machine body coordinate system; defining the heading angle, roll angle and pitch angle of the airplane as
Figure FDA0003573503050000013
Gamma and theta;
Figure FDA0003573503050000014
then as shown in the formula (2),
Figure FDA0003573503050000015
measuring magnetic vector h of magnetic sensoroutIs a true value H of the geomagnetic vectorbPlus measurement error b'iAs shown in the formula (3),
hout＝Hb+b'i (3)
wherein, b'i＝[b'xi b'yi b'zi]TIs a module output attitude angle of
Figure FDA0003573503050000016
The output error of the magnetic sensor, the equation (3) can be converted as shown in equation (4),
b'i＝hout-Hb (4)；
a step (A2) of recording the magnetic sensor error and outputting the attitude angle to the module when storing the magnetic sensor output error
Figure FDA0003573503050000021
And an error b in the attitude angle statei' all are stored, and each frame of error data contains the number N of effective error values in the stateiAnd the average error value of each axis
Figure FDA0003573503050000022
And
Figure FDA0003573503050000023
and error data is stored by a double-precision floating-point type four-dimensional array.
3. The magnetic sensor online calibration method based on the primary inertial navigation data backup attitude and heading reference system according to claim 2, characterized in that: designing a checking standard of the sufficiency of the error recording file, when the main inertial navigation of the airplane is abnormal, carrying out error compensation by the micro inertial navigation attitude module according to the error file stored in the learning stage, but before the error compensation, checking the sufficiency of the error compensation condition, wherein the checked contents are the full-range coverage condition of the error file to the course angle and the full-range coverage condition of the error recording file to the horizontal attitude angle under a certain horizontal attitude angle state, and the method comprises the following specific steps,
step (B1), at a certain fixed horizontal attitude angle thetaiAnd gammaiUnder the state, the coverage condition of the error file to the whole range of the heading angle is shown as an equation (5),
Figure FDA0003573503050000024
where dis is the error recording resolution,
Figure FDA0003573503050000025
representing the total number of error recording points covering the full course angular range at that resolution,
Figure FDA0003573503050000026
is the confidence level of an error recording point, and defines the effective error data amount at the recording point as
Figure FDA0003573503050000027
ntdIs a set threshold;
Figure FDA0003573503050000028
as shown in the formula (6),
Figure FDA0003573503050000029
step (B2), when the horizontal attitude angle changes, the full attitude coverage of the error file is shown in formula (7),
Figure FDA0003573503050000031
wherein N isγ＝360/dis，Nθ180/dis; since the roll angle and the pitch angle are not maintained to be large for a long time while the aircraft is flying, the smaller the horizontal attitude angle is, the larger the contribution of the error coverage in this state to the overall coverage is, and vice versa, so that the formula (7) can be rewritten as shown in the formula (8),
Figure FDA0003573503050000032
when the resolution approaches 0 infinitely, the formula (8) can be rewritten as shown in the formula (9),
Figure FDA0003573503050000033
wherein if the module is capable of recording sufficient magnetic sensor error data in each attitude state, that is
Figure FDA0003573503050000034
Cvr reached a maximum of 0.0625.
4. The magnetic sensor online calibration method based on the primary inertial navigation data backup attitude and heading reference system according to claim 3, characterized in that: and (C) verifying the effectiveness by utilizing the online calibration of the magnetic sensor, wherein the specific steps are the effectiveness verification analysis of the online calibration method of the magnetic sensor at different positions and the analysis of the magnetic course angle precision improvement effect and the universality of the online calibration method of the magnetic sensor.
5. The magnetic sensor online calibration method based on the primary inertial navigation data backup attitude and heading reference system according to claim 4, characterized in that: and (C1) carrying out validity verification and analysis on the online calibration method of the magnetic sensors at different positions, wherein the method comprises the specific steps of carrying out error calibration and compensation on the magnetic sensors at two different positions, recording the error with an attitude angle resolution of 1 degree, and comparing the geomagnetic vectors measured by the magnetic sensors before and after error compensation with each other and projecting the geomagnetic vectors on a horizontal plane.
6. The magnetic sensor online calibration method based on the primary inertial navigation data backup attitude and heading reference system according to claim 4, characterized in that: and (C2) performing error calibration on two different magnetic sensor modules, and calculating the magnetic heading angle by using the magnetic vector information after error compensation every 30 degrees within the variation range of the heading angle output by the micro inertial heading and attitude module from 0 degree to 360 degrees by using the magnetic heading angle on-line calibration method for improving the accuracy and the universality of the magnetic heading angle.
CN202210326043.3A 2022-03-30 2022-03-30 Magnetic sensor online calibration method based on main inertial navigation data backup attitude and heading reference system Withdrawn CN114689085A (en)

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