带倾斜修正的电子磁罗盘倾角测量误差补偿算法

摘要

针对目前带倾斜修正的电子磁罗盘由于倾角测量误差大，导致航向角测量精度低的问题，提出了一种基于三轴加速度传感器倾角测量模型进行误差补偿的方法。首先，研究了磁罗盘的倾角测量误差对航向角测量精度的影响，分析了加速度传感器测量倾角的原理及其误差来源。然后，构建了三轴加速度传感器测倾角的物理模型，建立了相应的数学模型，采用了改进的最小二乘法对其进行参数识别，完成对倾角测量误差的补偿。最后，利用 BP 神经网络算法对周围环境的罗差进行修正。实验结果表明：通过对倾角测量误差的补偿，在30范围内，其倾角测量误差控制在0.3之内；能够将磁航向角测量误差由倾角测量误差补偿前的1.8降低到0.6，提高了电子磁罗盘的测量精度。%In view that the magnetic electronic compass with tilt correction has large inclination measuring error which cause low precision of heading angle measurement, a error compensation method based on the measuring model of three accelerations is put forward. First, the influence of inclination measuring error of magnetic compass for magnetic heading angle accuracy is studied. The principle and error source of inclination measuring are analyzed. Then, the physical model and mathematical model of three accelerations for tilt sensing are established. In order to modify the error of inclination measuring, a modified least square method is proposed for the parametric identification. Finally, a BP neural network algorithm is used to correct the magnetic deviation. The experiment results show that the inclination measuring error is within ±0.3° in the range of ±30° after compensating of inclination measuring error. As a result, the magnetic heading angle errors were reduced from ±1.8° to ±0.6° by the compensation. So the heading angle accuracy of magnetic electronic compass is improved.