航向测量系统中三轴磁传感器标定的等效两步法

发布时间：2018-07-13 09:12

【摘要】：针对航向测量系统中三轴磁传感器误差参数标定问题提出了等效两步法。通过奇异值分解将测量模型等效为一组坐标变换,分析误差参数的几何意义及等效变换方法的意义与特点,依据几何意义将标定过程分为两步进行,即等效传感器坐标系标定及等效非对准标定。利用椭球面方程系数计算等效传感器坐标系误差参数,明确椭球法标定参数的几何意义;应用主成分分析法进行等效非对准标定,分析传统主成分分析法产生符号错误及非正交问题的原因与影响,并研究符号修正与正交修正方法。等效两步法的标定过程不需要航姿参考、地磁信息及辅助传感器,实验表明其航向角校正精度与点积不变法相当。
[Abstract]:An equivalent two-step method is proposed to calibrate the error parameters of three-axis magnetic sensors in the heading measurement system. The measurement model is equivalent to a set of coordinate transformations by singular value decomposition. The geometric meaning of the error parameters and the significance and characteristics of the equivalent transformation method are analyzed. The calibration process is divided into two steps according to the geometric meaning. That is equivalent sensor coordinate system calibration and equivalent misalignment calibration. Using the coefficient of ellipsoid equation to calculate the error parameters of equivalent sensor coordinate system, the geometric significance of calibration parameters of ellipsoid method is determined, and the equivalent misalignment calibration is carried out by principal component analysis. The causes and effects of symbol errors and non-orthogonal problems in traditional principal component analysis (PCA) are analyzed, and the methods of symbol correction and orthogonal correction are studied. The calibration process of the equivalent two-step method does not require attitude reference geomagnetic information and auxiliary sensors. The experimental results show that the accuracy of heading angle correction is equivalent to that of the point product invariant method.
【作者单位】：北京科技大学自动化学院;中国石油大学(华东)信息与控制工程学院;中国石油大学胜利学院;北京市工业波谱成像工程技术研究中心;北京联合大学自动化学院;
【基金】：国家自然科学基金(61273082)项目资助
【分类号】：TP212

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