基于迭代算法的三轴磁传感器标定与误差补偿技术研究

针对现有地磁导航系统中磁传感器标定方法存在的计算时间过长和误差较大等问题，给出一种可以标定与补偿三轴地磁分量的迭代算法。简要分析三轴磁传感器测量过程中的误差来源，给出磁传感器标定与测量误差的参数化数学模型，分析如何应用迭代算法来确定相关的误差参数，并进行仿真实验验证。仿真与试验结果表明：该算法可以有效补偿三维空间测量误差，在存在不同铁磁性干扰物质时可以有效地消除其影响。

Research on Tri-Axial Magnetic Sensor Calibration and Measurement Error Compensation Based on Iterative Algorithm

In the magnetic navigation system, according to the long computation time and big error of the magnetic sensor calibration, an iterative algorithm for tri-axial magnetic sensor calibration and measurement error compensation is put forward. By analyzing the sources of error in tri-axial magnetic sensor in the process of measurement, a parameterized mathematical model comprising sensor’s calibrating and measurement error is given. At the same time, this paper analyzes how the process of iterative algorithm is applied to determine the error parameters. Simulation and experimental results show that this algorithm can effectively compensate the three-dimensional measurement error, and also can eliminate influence of the interference caused by the hard magnetic material.