文献类型：期刊文献

英文题名：Novel Calibration Algorithm for a Three-Axis Strapdown Magnetometer

作者：Liu, Yan Xia[1,2];Li, Xi Sheng[2];Zhang, Xiao Juan[2];Feng, Yi Bo[2]

第一作者：Liu, Yan Xia;刘艳霞

通讯作者：Liu, YX[1]

机构：[1]Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China;[2]Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China

第一机构：北京联合大学城市轨道交通与物流学院

通讯机构：[1]corresponding author), Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China.|[1141751]北京联合大学城市轨道交通与物流学院;[11417]北京联合大学;

年份：2014

卷号：14

期号：5

起止页码：8485-8504

外文期刊名：SENSORS

收录：;EI(收录号：20142117751773);Scopus(收录号：2-s2.0-84900822744);WOS:【SCI-EXPANDED(收录号:WOS:000337112200045)】；

基金：This paper is supported by "Projects from National Natural Science Foundation of China" (No. 61273082) and "Fundamental Research Funds for the Central Universities" (No.FRF-TP-09-017B). Furthermore, the authors would also like to thank all who have helped with this study.

语种：英文

外文关键词：constant intersection angle assumption; ellipsoid fitting; restricted least squares solution; rotation matrix

摘要：A complete error calibration model with 12 independent parameters is established by analyzing the three-axis magnetometer error mechanism. The said model conforms to an ellipsoid restriction, the parameters of the ellipsoid equation are estimated, and the ellipsoid coefficient matrix is derived. However, the calibration matrix cannot be determined completely, as there are fewer ellipsoid parameters than calibration model parameters. Mathematically, the calibration matrix derived from the ellipsoid coefficient matrix by a different matrix decomposition method is not unique, and there exists an unknown rotation matrix R between them. This paper puts forward a constant intersection angle method (angles between the geomagnetic field and gravitational field are fixed) to estimate R. The Tikhonov method is adopted to solve the problem that rounding errors or other errors may seriously affect the calculation results of R when the condition number of the matrix is very large. The geomagnetic field vector and heading error are further corrected by R. The constant intersection angle method is convenient and practical, as it is free from any additional calibration procedure or coordinate transformation. In addition, the simulation experiment indicates that the heading error declines from +/- 1 degrees calibrated by classical ellipsoid fitting to +/- 0.2 degrees calibrated by a constant intersection angle method, and the signal-to-noise ratio is 50 dB. The actual experiment exhibits that the heading error is further corrected from +/- 0.8 degrees calibrated by the classical ellipsoid fitting to +/- 0.3 degrees calibrated by a constant intersection angle method.