三轴磁强计实时自校正算法

doi:10.3969/j.issn.0372-2112.2017.07.027

电子学报 ›› 2017, Vol. 45 ›› Issue (7): 1750-1757.DOI: 10.3969/j.issn.0372-2112.2017.07.027

三轴磁强计实时自校正算法

张宏欣, 周穗华, 张伽伟

海军工程大学兵器工程系, 湖北武汉 430033

收稿日期:2016-01-14 修回日期:2016-07-03 出版日期:2017-07-25
- 作者简介:
- 张宏欣,男,1987年12月出生,陕西汉中人.2010年毕业于西安理工大学,现为海军工程大学博士生,从事统计信号处理及目标跟踪相关研究.E-mail:mylifeforthebattle@hotmail.com;周穗华,男,1962年10月出生,广东五华人,1984年毕业于海军工程学院,1990年在海军工程学院获得博士学位.现为海军工程大学教授,从事军用目标特性信息处理及武器系统总体设计方面研究.

Real-Time Self Calibration Algorithm for Three-Axis Magnetometer

ZHANG Hong-xin, ZHOU Sui-hua, ZHANG Jia-wei

Department of Weapon Engineering, Naval University of Engineering, Wuhan, Hubei 430033, China

Received:2016-01-14 Revised:2016-07-03 Online:2017-07-25 Published:2017-07-25

摘要/Abstract

摘要：

提出一种三轴磁强计的实时自校正算法.通过分析测量误差因素，建立了三轴磁强计输出的参数模型.在此基础上，根据定点地磁场矢量模不变原则建立校正相关参数的非线性状态空间模型，导出了基于扩展卡尔曼滤波器（Extended Kalman filter，EKF）求解的校正参数估计算法，并相应给出了易于实现的U-D分解滤波形式.相比离线校正，新算法能够对校正参数进行实时估计，且更易于片上实现.通过数值仿真验证了算法推导的正确性.采用三轴磁强计RM3000进行实测校正试验，验证了算法的有效性，并将结果与离线的TWO-STEP算法进行了对比，得出了相应结论.

关键词: 三轴磁强计, 实时校正, 状态空间模型, 扩展卡尔曼滤波器, 非线性滤波

Abstract:

A real-time self calibration approach for tri-axis magnetometers is proposed.The parameterized model of magnetometer readings is established by analyzing the nature of sensor errors,which lays a basis for the derivation of a nonlinear state-space model of calibration parameter using the invariability of local geomagnetic field.The real-time estimation of calibration parameter is derived based on extended Kalman filter(EKF) solution,the U-D decomposition filter is given for ease of implementation.Compared with the batch approaches,the proposed method not only can achieve real-time estimation of calibration parameters,but also is convenient for embedded implementation.Simulation results demonstrate the correctness of the derivation of the proposed approach.The effectiveness is validated by experimental test using RM3000 tri-aixs magnetometer.The results of simulations and experiments are analyzed and concluded in comparisons with TWO-STEP method.

Key words: tri-axis magnetometer, real-time calibration, state-space model, extended Kalman filter, nonlinear filtering

中图分类号:

TP202

张宏欣, 周穗华, 张伽伟. 三轴磁强计实时自校正算法[J]. 电子学报, 2017, 45(7): 1750-1757.

ZHANG Hong-xin, ZHOU Sui-hua, ZHANG Jia-wei. Real-Time Self Calibration Algorithm for Three-Axis Magnetometer[J]. Acta Electronica Sinica, 2017, 45(7): 1750-1757.

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三轴磁强计实时自校正算法

Real-Time Self Calibration Algorithm for Three-Axis Magnetometer

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