CN118225032A - Course angle measurement error correction method under ground motion carrier magnetic interference condition - Google Patents
Course angle measurement error correction method under ground motion carrier magnetic interference condition Download PDFInfo
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Abstract
The invention is suitable for the technical field of navigation, and provides a course angle measurement error correction method under the condition of magnetic interference of a ground motion carrier, which comprises the following steps: adjusting the carrier course to a 0 degree state by utilizing a geological compass; measuring geomagnetic field data by using a triaxial fluxgate sensor, and removing coarse errors; converting three components of a magnetic field obtained under any posture of the carrier into a navigation coordinate system; calculating a course angle to obtain a course angle subject to carrier magnetic interference, calculating an error and storing the error; the carrier course increases by 10 degrees clockwise to east until a course angle error of 0-360 degrees is obtained; processing the error data to obtain a calibration curve; and measuring the course angle, carrying out error calibration in real time, and outputting the calibrated course angle. The invention directly corrects the course angle measurement result, can solve the problem of course angle measurement error caused by carrier magnetic interference in the course range of 0-360 degrees, and is used for measuring the moving course of different carriers (mainly unmanned vehicles) on land.
Description
Technical Field
The invention belongs to the technical field of navigation, and particularly relates to a course angle measurement error correction method under the condition of magnetic interference of a ground motion carrier.
Background
The course measurement plays an important role in positioning navigation of the air-ground mobile device, and particularly in the aspect of autonomous navigation of a ground unmanned vehicle, the course angle measurement is the most effective method at present by utilizing geomagnetic field or fusion of geomagnetism and other physical quantities. In the measuring process, the magnetic sensor carried on the mobile carrier is easy to be subjected to magnetic interference of the carrier, so that great errors exist in the measured geomagnetic three components, and heading angle measurement is affected. Therefore, in a system for measuring the course angle by using the carrier-mounted magnetometer, the method has important significance for solving the problem of course angle measurement error caused by carrier magnetic interference.
The Chinese patent publication No. CN117053829A mentions a magnetic heading joint calibration method, which adopts an ellipsoid fitting correction method for the magnetic interference solution, and the complete triaxial change data is required to be obtained through the rotation of a three-dimensional space to perform parameter calculation, so that great difficulty exists for a ground motion carrier which can only run in a two-dimensional space. Therefore, the method has limitation in solving the course angle error problem caused by the magnetic interference of the ground motion carrier. In addition, the patent solves the course angle error caused by the attitude measurement error by using an error equation instead of solving the course angle measurement error caused by the carrier magnetic interference.
The chinese patent publication No. CN104913777a mentions an error compensation algorithm, which essentially performs direct magnetic field compensation on three components of geomagnetism, and the triaxial magnetic field compensation coefficient is a fixed parameter when leaving the factory, and cannot be changed. When the course angle measurement system is mounted to other moving carriers, the three-axis magnetic field compensation parameters are not applicable and cannot be obtained and changed by non-professional technicians. The method is only suitable for being solidified in a course angle measuring system of a mobile phone and other terminals.
Based on the problems, the invention starts from the heading angle measurement principle and the space distribution rule of carrier magnetic interference, analyzes the influence characteristics and rules of the movement carrier magnetic interference on the heading angle measurement error, and provides the heading angle measurement error correction method under the condition of the movement carrier magnetic interference, which is simple to operate and easy to realize, and is suitable for different movement carriers such as wheeled vehicles, tracked vehicles, logistics transport vehicles and the like for ground navigation. The method avoids the judgment and separation of geomagnetic field and interference field of the obtained magnetic field data in the processing process, but starts from the course angle error caused by comprehensive factors, obtains a course angle error compensation calibration curve to correct the course angle instead of correcting the magnetic field. And after the mobile carrier is replaced by the measuring system, the method is also applicable, the heading angle measuring precision and the working efficiency are improved to a certain extent, and the instantaneity is ensured.
Disclosure of Invention
The invention aims to provide a course angle measurement error correction method under the condition of magnetic interference of a ground motion carrier, and aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the course angle measurement error correction method under the condition of magnetic interference of the ground motion carrier comprises the following steps:
s1, adjusting the heading of a carrier to a 0-degree state by utilizing a geological compass;
S2, measuring geomagnetic field data by using a fluxgate triaxial magnetic sensor, and removing coarse errors by using a Leida criterion;
S3, converting three components of the magnetic field obtained under any posture of the carrier into a navigation coordinate system;
s4, performing course angle calculation to obtain a course angle subjected to carrier magnetic interference, calculating an error and storing the error;
s5, increasing the carrier course by 10 degrees in the clockwise direction to the east;
s6, repeating the steps S2-S5 until a heading angle error of 0-360 degrees is obtained;
S7, processing error data to obtain a calibration curve;
And S8, measuring the course angle, performing error calibration in real time, and outputting the calibrated course angle.
Further, the specific steps of the step S3 are as follows:
acquiring pitch angle output by inertial system And roll angle/>According to the relation between the navigation coordinate system and the carrier coordinate system, calculating the projection of the three components of the magnetic field obtained under the carrier coordinate system in the right-front direction and the right-front direction of the horizontal planeAnd/>. At this time, an additional magnetic field exists in three components of the magnetic field obtained by the three axes of the fluxgate sensor due to the influence of carrier magnetic interference, and the influence of the magnetic field value on the three axes of the sensor does not change along with the change of the posture. The calculation formula is as follows:
；
；
Wherein, 、/>And/>Geomagnetic three components under a carrier coordinate system obtained by the magnetic sensor respectively,、/>And/>The magnetic disturbances of the motion vector acting on the sensor triaxial are respectively.
Further, in the step S4, a calculation formula of the carrier heading angle error err is as follows:
；
Wherein, And/>The magnetic field components (including geomagnetic field and interference field) in the right-front direction and the right-left direction when the carrier is in the horizontal state are respectively represented, and a represents the heading angle measured by the geological compass as a theoretical heading angle.
Further, the specific operation in step S5 is as follows:
and taking the geological compass as a reference, increasing the heading of the carrier by 10 degrees to the east, and changing the heading without changing the position.
Further, the specific operation in step S6 is as follows:
And measuring the course angle of 0-360 degrees on the carrier at the same position, calculating the error, and storing error data into an error file.
Further, performing cubic spline interpolation processing on the error data to obtain an angle error calibration curve taking 1 degree as a step, and storing the calibration curve into a specific file;
the cubic spline interpolation formula for each segment interval is as follows:
；
Wherein, The angle error obtained after interpolation of each section of interval is an interval of every 10 degrees; /(I)、/>、/>AndRespectively constant term, primary term coefficient, secondary term coefficient and cubic term coefficient in cubic spline interpolation; /(I)The function argument is an angle value which is stepped to be 1 degree in each section interval; /(I)To process the/>, in the dataAnd an angle value.
Further, the specific operation in step S8 is as follows:
And moving the carrier to any azimuth, starting a course angle measuring function, measuring geomagnetic three-component data and attitude data in real time, calculating a course angle, automatically matching error values according to the calculated course angle value by a program, selecting a calibration parameter corresponding to the angle to calibrate the course angle, and outputting the calibrated course angle.
Compared with the prior art, the invention has the beneficial effects that:
The method for correcting the course angle measurement error under the magnetic interference condition of the ground motion carrier provided by the invention does not need to judge and separate the geomagnetic field and the interference field of the obtained magnetic field data, directly corrects the course angle calculation result, can solve the course angle measurement error caused by the carrier magnetic interference in the course range of 0-360 degrees, and is used for measuring the motion course of different carriers (mainly unmanned vehicles) on land.
Drawings
FIG. 1 is a flow chart of the present invention.
FIG. 2 is a flow chart of course angle calculation in the present invention.
FIG. 3 is a flow chart of course angle error calibration according to the present invention.
Fig. 4 shows the heading angle measurement error (before and after interpolation) in the range of 0-360 ° heading angle under carrier magnetic interference.
FIG. 5 is a graph of the results of the heading angle measurement error before and after calibration under carrier magnetic interference.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
The invention provides a course angle measurement error correction method under the condition of magnetic interference of a ground motion carrier, which mainly comprises two steps of magnetic field data measurement, course angle calculation and course angle error correction.
In the course angle calculation process, as shown in fig. 2, a triaxial fluxgate sensor is used for collecting geomagnetic three components, and in order to avoid burst interference caused by other magnetic objects, a Laida criterion is used for removing coarse errors. And simultaneously acquiring a rolling angle and a pitch angle provided by the inertial system, and acquiring magnetic field components (respectively, the front and the right under the carrier coordinate system) of the geomagnetic field on the horizontal plane by utilizing the relative relation between the carrier coordinate system and the navigation coordinate system. And calculating and outputting a course angle by utilizing the relationship between the geomagnetic component in the horizontal direction and the course angle.
The course angle error calibration flow is shown in fig. 3, the real course angle of the carrier is adjusted to be in a 0 degree state by means of a geological compass, at the moment, the course angle information measured by the system is recorded, error calculation is carried out, and error data are stored in an error file. And (3) adjusting the carrier course, adding 10 degrees to the east each time, recording the course angle information measured by the system, performing error calculation, storing the error data into an error file, and ending the measurement until the carrier course rotates from 0 degrees to 360 degrees (when the deflection times i is more than or equal to 35 degrees). Starting a program, and performing cubic spline interpolation processing on the data in the error file to obtain a course angle error calibration curve with a step of 1 degree. The calibration curve is stored in a specific file, when the mobile carrier is in any azimuth, a course angle measuring function is started, the system measures, calculates and starts a calibration program to calibrate the calculated course angle in real time according to the measured data, and the calibrated course angle information is output.
The specific steps of the method are as follows (as shown in figure 1):
s1, adjusting the heading of a carrier to a 0-degree state by utilizing a geological compass;
S2, measuring geomagnetic field data by using a fluxgate triaxial magnetic sensor, and removing coarse errors by using a Leida criterion;
Step S3, converting three components of a magnetic field obtained under any posture of the carrier into a navigation coordinate system: acquiring pitch angle output by inertial system And roll angle/>According to the relation between the navigation coordinate system and the carrier coordinate system, the magnetic field component information/>, of the right direction and the front direction under the carrier coordinate system on the water plane, is calculatedAnd/>. At this time, an additional magnetic field exists in three components of the magnetic field obtained by the three axes of the fluxgate sensor due to the influence of carrier magnetic interference, and the influence of the magnetic field value on the three axes of the sensor does not change along with the change of the posture. The calculation formula is as follows:
；
；
Wherein, 、/>And/>Geomagnetic three components under a carrier coordinate system obtained by the magnetic sensor respectively,、/>And/>The magnetic disturbances of the motion vector acting on the sensor triaxial are respectively.
And S4, performing course angle calculation to obtain a course angle subjected to carrier magnetic interference, calculating an error, and storing the error. The calculation formula of the carrier heading angle error err is as follows:
；
Wherein, And/>The magnetic field components (including geomagnetic field and interference field) in the right-front direction and the right-left direction when the carrier is in the horizontal state, respectively, a represents the heading angle measured by the geological compass as a theoretical heading angle.
And S5, taking the geological compass as a reference, increasing the heading of the carrier by 10 degrees to the east, and changing the heading without changing the position.
And S6, measuring the heading angle of 0-360 degrees of the carrier at the same position, calculating an error, and storing error data into an error file.
Step S7, processing error data to obtain a calibration curve: performing cubic spline interpolation processing on the error data to obtain an angle error calibration curve taking 1 degree as a step, and storing the calibration curve into a specific file; the cubic spline interpolation formula for each segment interval is as follows:
；
Wherein, The angle error obtained after interpolation of each section of interval is an interval of every 10 degrees; /(I)、/>、/>AndRespectively constant term, primary term coefficient, secondary term coefficient and cubic term coefficient in cubic spline interpolation; /(I)The function argument is an angle value which is stepped to be 1 degree in each section interval; /(I)To process the/>, in the dataAnd an angle value. As shown in fig. 4, the course angle measurement error (before and after interpolation) in the course angle range of 0-360 ° under carrier magnetic interference is shown, and the two curves in fig. 4 are the course angle error curve measured by stepping to 10 ° in the course angle range of 0-360 ° under carrier magnetic interference and the course angle error curve obtained by cubic spline interpolation and stepping to 1 °. The interpolated error curve keeps the change trend of the original curve, and the error data is more abundant, thereby being beneficial to error correction.
S8, performing error calibration on the actually measured course angle and outputting the calibrated course angle: moving the carrier to any azimuth (without surrounding ferromagnetic substances), starting a course angle measuring function, measuring geomagnetic three-component data and attitude data in real time, calculating a course angle, automatically matching error values according to the calculated course angle value by a program, selecting calibration parameters corresponding to the angle to calibrate the course angle, and outputting the calibrated course angle. The heading angle measurement error contrast before and after calibration is shown in fig. 5. The maximum course error before correction reaches-5 degrees, and the course error after correction is kept within-1-0.5 degrees, so that 80% is reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements can be made by those skilled in the art without departing from the spirit of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (5)
1. The course angle measurement error correction method under the condition of magnetic interference of the ground motion carrier is characterized by comprising the following steps of:
s1, adjusting the heading of a carrier to a 0-degree state by utilizing a geological compass;
S2, measuring geomagnetic field data by using a fluxgate triaxial magnetic sensor, and removing coarse errors by using a Leida criterion;
S3, converting three components of the magnetic field obtained under any posture of the carrier into a navigation coordinate system;
s4, performing course angle calculation to obtain a course angle subjected to carrier magnetic interference, calculating an error and storing the error;
s5, increasing the carrier course by 10 degrees in the clockwise direction to the east;
s6, repeating the steps S2-S5 until a heading angle error of 0-360 degrees is obtained;
S7, processing error data to obtain a calibration curve;
S8, measuring a course angle, performing error calibration in real time, and outputting the calibrated course angle;
The specific operation of the step S5 is as follows: taking a geological compass as a reference, increasing the heading of the carrier by 10 degrees to the east, and changing the heading without changing the position;
the specific operation of step S6 is as follows: and measuring the course angle of 0-360 degrees on the carrier at the same position, calculating the error, and storing error data into an error file.
2. The method for correcting course angle measurement error under the condition of magnetic disturbance of ground motion carrier according to claim 1, wherein the specific steps of step S3 are as follows:
acquiring pitch angle output by inertial system And roll angle/>According to the relation between the navigation coordinate system and the carrier coordinate system, calculating the projection of the three components of the magnetic field obtained under the carrier coordinate system in the right-front direction and the right-front direction of the horizontal planeAnd/>; The calculation formula is as follows:
；
；
Wherein, 、/>And/>Geomagnetic three components in a carrier coordinate system obtained by the magnetic sensor,/>, respectively、And/>The magnetic disturbances of the motion vector acting on the sensor triaxial are respectively.
3. The method for correcting course angle measurement error under the condition of magnetic disturbance of ground movement carrier according to claim 1, wherein in step S4, the calculation formula of the carrier course angle error err is as follows:
；
Wherein, And/>The magnetic field components in the right-front direction and the right-front direction when the carrier is in the horizontal state are respectively represented, and A represents the heading angle measured by the geological compass as a theoretical heading angle.
4. The method for correcting course angle measurement errors under the condition of magnetic interference of a ground motion carrier according to claim 3, wherein the error data is subjected to cubic spline interpolation processing to obtain an angle error calibration curve which takes 1 degree as a step, and the calibration curve is stored in a specific file;
the cubic spline interpolation formula for each segment interval is as follows:
；
Wherein, The angle error obtained after interpolation of each section of interval is an interval of every 10 degrees; /(I)、/>、/>And/>Respectively constant term, primary term coefficient, secondary term coefficient and cubic term coefficient in cubic spline interpolation; /(I)The function argument is an angle value which is stepped to be 1 degree in each section interval; /(I)To process the/>, in the dataAnd an angle value.
5. The method for correcting course angle measurement error under the condition of magnetic disturbance of ground motion carrier according to claim 1, wherein the specific operation of step S8 is:
And moving the carrier to any azimuth, starting a course angle measuring function, measuring geomagnetic three-component data and attitude data in real time, calculating a course angle, automatically matching error values according to the calculated course angle value by a program, selecting a calibration parameter corresponding to the angle to calibrate the course angle, and outputting the calibrated course angle.
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