备份航姿系统的磁传感器在线校准方法

磁航向角是备份航姿系统的重要输出参数,为提高测量性能,需对磁传感器进行误差标定。对于机载应用的磁传感器,地面标定方法需要耗费大量的时间且操作不便,在地表标定结果的适用性随距离标定的时间和使用空间位置的变化而降低。基于备份航姿系统的实际工作特点,提出一种在备份状态下利用飞机主惯导的姿态角信息对磁传感器误差进行在线校准的方案,设计了误差校准数据存储的数据结构,提出了校准数据对航向空间覆盖的充分性评价策略,最后利用无磁转台模拟环境,验证了某备份航姿系统的磁传感器在线校准方案的可行性和有效性。

Online Calibration Method for Magnetic Sensors in Backup AHRS

The magnetic heading angle is an important output parameter of the backup attitude and heading system (AHRS).In order to improve the measurement performance,it is necessary to calibrate the error of the magnetic sensor.For airborne magnetic sensors,the ground calibration method takes a lot of time and is inconvenient to operate.The applicability of the on-ground calibration results decreases with the change of distance and position.Based on the actual working characteristics of the backup AHRS,a new on-line calibration scheme is proposed,which uses the attitude angle information of the aircraft main inertial navigation system to calibrate the magnetic sensor errors in the backup state.The data structure of error calibration data storage is designed,and the adequacy evaluation strategy for the coverage of calibration data to the heading space is constructed.Finally,the non-magnetic turntable is used to simulate the environment,the feasibility and effectiveness of the magnetic sensor online calibration scheme for a backup AHRS are verified.