A magnetic deviation self-optimal method based on thecomponent of geomagnetic field was put forward to improve the compensation precision of all-attitude digital magnetic compass. According to magnetic deviation com-pensation model,a limited compensation ellipsoid matching error wasanalyzed and an optimal compensation model including missing parameters was established based on the missing parameters andresidual error analysis. In view of the nonlinear optimal model, the particle swarm optimization ( PSO ) was introduced to estimate the model parameters,and the results of numerical simulation was proved that the PSO couldbe estimated the missing parame-ters effectively. All experiment results showed that the process of optimal compensation did not need external auxil-iary posture information. When the pitching angle was -20°,the maximum error was reduced from 4.8° to 1.9° and the standard deviation was reduced from 1.5° to 1.1° in the usage of optimal compensation method based on ellip-soid matching error compensation method.%为了进一步提高数字磁罗盘全姿态罗差补偿精度,提出了一种基于地磁场分量的罗差自主优化补偿方法.从罗差补偿模型出发,分析椭球拟合补偿方法的局限性,在对参数缺失和剩余误差分析的基础上,建立了包含缺失参数的优化补偿模型;针对非线性优化模型引入粒子群算法PSO(Particle Swarm Optimization)对模型参数进行估计,数值仿真结果证明了算法可有效估计缺失参数.实验结果表明,优化补偿过程无需借助外部辅助姿态信息,俯仰角-20°姿态下,优化补偿方法在椭球假设补偿基础上将其最大误差由4.8°降至1.9°,误差标准差由1.5°降至1.1°.
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