基于极大似然估计法的磁力计误差补偿算法

发布时间：2018-02-13 03:25

本文关键词： 磁力计轴位敏感重合误差极大似然估计法误差补偿　出处：《重庆邮电大学学报(自然科学版)》2017年06期 　论文类型：期刊论文

【摘要】：针对现有三轴磁力计误差补偿速度慢、需要外部辅助设备、磁力计和惯性传感器组合存在多传感器轴位敏感重合误差问题,提出了一种基于极大似然估计法(maximum likelihood estimation,MLE)的快速有效的磁力计误差补偿算法。根据传感器组合系统中误差来源建立测量误差模型,建立高斯分布的极大似然参数估计模型,用牛顿最优法解算出误差补偿参数,并给出求解理想初始值的算法。仿真数据显示,补偿后的磁力计航向角解算精度达到0.81°,相比补偿前精度提高94.9%。实验结果表明,该算法可简单快速的实现误差补偿,多传感器轴位敏感重合误差得到校准。
[Abstract]:In view of the slow error compensation speed of the existing three-axis magnetometer and the need of external auxiliary equipment, the combination of magnetometer and inertial sensor has the problem of multi-sensor axial sensitive coincidence error. In this paper, a fast and effective magnetometer error compensation algorithm based on maximum likelihood estimation (MLEs) is proposed. According to the error source in sensor combination system, the measurement error model is established, and the maximum likelihood parameter estimation model of Gao Si distribution is established. The error compensation parameters are calculated by Newton's optimal method, and an algorithm for solving the ideal initial value is given. The simulation data show that the precision of the compensated magnetometer's heading angle is 0.81 掳, which is 94.9 higher than that before the compensation. The algorithm can easily and quickly realize error compensation, and the multi-sensor axial sensitive coincidence error can be calibrated.
【作者单位】：重庆邮电大学光电信息感测与传输技术重庆市重点实验室;
【基金】：国家自然科学基金项目资助(51175535) MEMS振动传感与微姿态组合测井技术国际联合研究中心科技平台与基地建设(cstc2014gjhz0038)~~
【分类号】：TM936.1;TP212

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