| 摘要: |
| 磁力计在行人自主导航系统中用于提供绝对航行信息,而航向的精度直接决定着系统定位的精度。针对目前磁力计标定方法中存在磁干扰等问题,提出了一种基于最小二乘法和“8”字校准法对磁力计零偏进行实时校准的方法。该方法先利用最小二乘法修正磁力计零偏,再根据磁力计的模值大小及方差作为磁干扰的判断条件,用“8”字旋转方式进行实时校准。通过仿真和实验验证,新的方法有效地解决了磁力计误差补偿问题,证明了改进误差补偿算法的可行性和有效性。 |
| 关键词: 行人自主导航 最小二乘 磁干扰 磁力计零偏 |
| DOI： |
|
| 基金项目:国家自然科学基金 (61301124,61471075,61671091);国际联合研究中心科技平台与基地建设 (t2014gjhz 40001);重庆市科委基础研究项目 (cstc2015jcyjBX0068,cstc2014jcyjA1350,cstc2015jcyjB0360,csccstc2016 jyjA0347);重庆邮电大学博士启动基金(A2015-40,A2016-76);重庆科委自然科学基金(cstc2016jcyjA0347);重c庆高校优秀成果转化资助项目(KJZH17115) |
|
| Research on Error Compensation and Calibration of Magnetometer Based on Least Square Method |
| LIU Yu,CHEN Yong-wei,LU Yong-le,DING Qi-xing,LI Yao |
| (Chongqing Key Laboratory of Photoelectronic Information Sensing and Transmiting Technology,Chongqing University of Posts and Telecommunications,Chongqing 400065,China) |
| Abstract: |
| Magnetometer is used to provide absolute navigation information in pedestrian autonomous navigation system,and the accuracy of heading determines the positioning accuracy of the system directly. In order to solve the problem of magnetic interference in magnetometer calibration method,a realtime calibration method based on least square method and figure“8”calibration method is proposed. The least square method is firstly used to correct the zero offset of magnetometer,and then,according to the modulus value and variance of magnetometer,as the judgment condition of magnetic interference,the figure“8”rotation mode is used to calibrate in real time. Through simulation and experimental verification,the new method effectively solves the error compensation problem of magnetometer,and proves the feasibility and effectiveness of the improved error compensation algorithm. |
| Key words: Pedestrian autonomous navigation Least square Magnetic interference Zero bias of magenetometer |
