磁力计/卫星组合测量标定和滤波算法

针对磁力计/卫星定位系统组合测量载体姿态角的现实问题，根据影响测量精度不同因素的特性，研究提高测量精度的方法。采用最小二阶乘算法对磁力计进行标定消除系统误差；采用离散卡尔曼滤波算法消除测量误差带来的影响。试验结果表明：对于标定之后的磁力计，采用本文中所述的滤波算法使得测量绝对平均误差从2.366 1%减小到0.592 6%，证明该方法是有效的。

Calibration and Filter Algorithm for Magnetometer/Satellite Integrated Measurement

Aiming at the practical problem of magnetometer/satellite positioning system integrated measurement of vehicle attitude angle, this paper studies the method to improve the measurement accuracy according to the characteristics of different factors affecting the measurement accuracy. In this paper, the least square algorithm is used to calibrate the magnetometer to eliminate the system error, and the discrete Kalman filter algorithm is used to eliminate the influence of measurement error. The experimental results show that for the calibrated magnetometer, based on filter algorithm, the absolute mean error of the measurement is reduced from 2.366 1% to 0.592 6%, which proves that the method is effective.