摘要
航姿参考系统中三轴磁强计与三轴加速度计常采用椭球拟合法进行误差校正与补偿,其缺点是校正后不同传感器之间以及传感器坐标系与载体坐标系之间往往还存在非对准误差。由定量分析得知此类非对准误差所引起的航姿参考系统航向角误差具有常值误差与半圆罗差之和的形式。利用地磁矢量与重力矢量的点积为常数这一性质,并结合三维旋转矩阵的小角度近似表达式,对椭球拟合法校正后的传感器非对准误差进行了补偿,在不同磁干扰条件下均可使校正效果得到改善,航向剩余误差(均方根)平均减小30%以上。
Ellipsoid fitting method is frequently used to eliminate the error of tri-axial magnetometer and accelerometer in attitude and heading reference system（AHRS）.But the defect is that it cannot resolve the inter-triad misalignment between different sensors,as well as between the sensor frame and the carrier＇s body frame.According to quantitative analysis,the heading error of AHRS caused by inter-triad misalignment consists of constant and sinusoidal components.Using the constant dot product of geomagnetic vector and gravity vector,additional with small angle approximation of three dimensional rotation matrices,the inter-triad misalignment left by ellipsoid fitting method can be compensated.With different magnetic disturbances,the residual heading error（RMSE）can be reduced over 30% on average.
出处
《传感技术学报》
CAS
CSCD
北大核心
2017年第2期266-271,共6页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金地区基金项目(61361006)
广西自然科学基金青年基金项目(2015GXNSFBA139253)
广西自动检测技术与仪器重点实验室主任基金项目(YQ15107
YQ14203)
关键词
矢量传感器
误差校正
椭球拟合
航姿参考系统
vector field sensor
error calibration
ellipsoid fitting
attitude and heading reference system
