微航姿仪的磁力计标定算法及误差补偿研究

针对目前磁力计标定算法中存在磁干扰或噪声导致航向角测量误差等问题,提出了一种改进的磁力计标定算法。该算法考虑磁力计安装误差和外界磁干扰,提出改进的磁力计误差模型;同时运用BP神经网络训练软磁干扰下的磁航向与真实航向之间的非线性关系,降低了非线性误差。通过仿真和实验验证,算法有效地解决了磁力计误差补偿问题,降低了软硬磁干扰对航向角的影响,得到较精确的航向角,误差范围在±1°内,证明了改进误差补偿算法的可行性和有效性。

Study on Calibration Algorithms and Error Compensationin of the Magnetometer of the Micro AHRS Instrument

For the problems that the magnetic interference and noise in the magnetometer calibration method result in the heading angle measurement error at present, an improved magnetometer calibration algorithm is presented in this paper. Taking account of the magnetometer installation errors and external magnetic interference, an improved magnetometer error model is established. At the same time, the BP neural network is utilized to train the non linear relationship between the magnetic heading and true heading in the soft magnetic interference, thus the non linear errors can be reduced. The simulation and experimental verification show that the proposed algorithm can effectively solve the problem of the magnetometer error compensation, reduce the influence of the hard and soft magnetic interference on the heading angle, and more accurate heading angle is obtained. The error is less than ±1°, which certifies the feasibility and effectiveness of the improved calibration algorithm.