利用惯性传感器进行二维磁力计标定用于航向估计

中文摘要 AI 辅助

磁力计具有众多应用，其中最重要的应用之一是航向确定。在实际中，磁力计测量受到传感器制造误差以及硬铁和软铁效应的影响，因此需要进行标定以获得可靠的航向估计。许多传统的三维标定方法需要足够丰富的多轴旋转激励，这在某些应用中不可行，尤其是在原位或在线标定场景下。本文提出了一种借助惯性传感器的二维磁力计标定方法。所提方法简单、具有闭式解且无需迭代，利用单轴旋转运动以及测量的横滚角和俯仰角。标定后，校正后的磁测量值用于航向确定。仿真和实验结果表明，所提方法在有限旋转条件下是有效的。

英文摘要

Magnetometers have numerous applications, one of the most important being heading determination. In practice, magnetometer measurements are affected by sensor manufacturing errors and by hard-iron and soft-iron effects, and therefore calibration is required for reliable heading estimation. Many conventional three-dimensional calibration methods require sufficiently rich multi-axis rotational excitation, which is not feasible in some applications, particularly for in-situ or online calibration. This paper proposes a two-dimensional magnetometer calibration method aided by inertial sensors. The proposed method is simple, closed-form, and non-iterative, and uses a single-axis rotational motion together with measured roll and pitch angles. After calibration, the corrected magnetic measurements are used for heading determination. Simulation and experimental results demonstrate the effectiveness of the proposed method under limited-rotation conditions.

发表机构

• School of Advanced Technologies, Iran University of Science and Technology（伊朗理工大学先进技术学院）
• Department of Electrical Engineering, Sharif University of Technology（谢里夫理工大学电气工程系）

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