数字磁罗盘的全姿态罗差补偿

刘仁浩; 王华

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数字磁罗盘的全姿态罗差补偿

微纳技术与精密机械 | 更新时间：2020-08-12

- 数字磁罗盘的全姿态罗差补偿
- All attitude magnetic deviation compensation for digital magnetic compass
- 光学精密工程 2011年19卷第8期
- 作者机构：
  
  北京航空航天大学宇航学院
- 作者简介：
- 基金信息：
  
  航天科技重点创新基金()
- DOI：
  中图分类号： V241.61
- 收稿日期：2011-01-06，
  
  修回日期：2011-03-21，
  
  网络出版日期：2011-10-21，
  
  纸质出版日期：2011-08-25
- 稿件说明：
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刘仁浩,王华. 数字磁罗盘的全姿态罗差补偿[J]. 光学精密工程, 2011, 19(8): 0-0.

LIU Ren-Gao,YU Hua. All attitude magnetic deviation compensation for digital magnetic compass[J]. Editorial Office of Optics and Precision Engineering, 2011, 19(8): 0-0.
刘仁浩,王华. 数字磁罗盘的全姿态罗差补偿[J]. 光学精密工程, 2011, 19(8): 0-0. DOI：

LIU Ren-Gao,YU Hua. All attitude magnetic deviation compensation for digital magnetic compass[J]. Editorial Office of Optics and Precision Engineering, 2011, 19(8): 0-0. DOI：

摘要

针对现有磁罗盘罗差补偿方法成本高、效率低和全姿态补偿能力不足的问题，提出了一种基于几何变换的全姿态罗差补偿方法。首先，根据外磁干扰对磁传感器采样值的影响，建立了几何变换罗差补偿模型。该模型将罗差补偿参数由12个减少到9个。其次，将牛顿法算子引入到粒子群算法中建立混合粒子群优化算法，采用粒子群算法选取优化参数初始值，以牛顿法算子快速逼近最优值。最后，使用该混合粒子群优化算法对几何变换参数进行优化求解，并利用几何变换罗差补偿模型对磁罗盘磁航向测量误差进行补偿。实验结果表明，采用该罗差补偿方法无需外部辅助航向姿态信息，可在3分钟内实现全姿态罗差补偿，并将磁航向测量误差降低为补偿前的1/8～1/10，在罗差补偿精度和快速性上优于传统补偿方法，满足了航姿系统的需求。

Abstract

In order to overcome the shortcomings of high cost

low efficiency and insufficient tilting compensation ability from the existing magnetic deviation compensation methods

a new method based on geometric transformation was proposed to compensate the digital magnetic compass. First

the effect of the magnetic interference on the output of magnetic sensors was analyzed and a geometric transformation model for the compass deviation was established. Based on the model

the number of magnetic deviation parameters was reduced from 12 to 9. Second

a hybrid algorithm for solving these 9 parameters was proposed

where the Particle Swarm Optimization(PSO) algorithm was applied to adjust the initial value and the Newton algorithm was used to accelerate the convergence process. Finally

the compensation method was used to compensate the magnetic heading error. The experimental results show that the method mentioned achieves good effects and performs better than that of traditional compensation methods. The compensation time is less than 3 minutes and the magnetic heading error is 1/8～1/10 little than the one before compensation. It can satisfy the requirement of the attitude and heading reference system.

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references

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