基于陀螺辅助的磁罗盘抗干扰测量方法

摘要

The acceleration interference and external magnetic field interference will seriously affect the accuracy of the magnetic compass. In order to solve the above problem, this paper presents anti-interference measurement method of magnetic compass based on auxiliary gyroscope. The system filter equations were composed by magnetic compass attitude quaternion differential equations and the sensor error models,and the attitude of magnetic compass was estimated by adaptive Kalman filter. Finally,the semi-physical experiments have carried on by non magnetic turntable. The results show that the method can effectively estimate the attitude of magnetic compass in the magnetic interference and acceleration interference environment. Moreover, the measurement precision of magnetic compass can be improved.%为了解决磁罗盘使用过程中受到的磁干扰和加速度干扰影响测量精度问题。提出了基于陀螺辅助的磁罗盘抗干扰测量方法。选取磁罗盘姿态四元数微分程和传感器误差模型共同构建系统的滤波模型，由自适应卡尔曼滤波算法实现磁罗盘姿态估计，并借助于无磁转台对测量方法进行了实验验证，结果表明该方法是可有效实现磁罗盘的抗干扰测量，且能提高磁罗盘测量精度。