Magnetic Deviation Analysis and Compensation of Magnetic Sensors for Navigation
The magnetic deviation analysis and compensation of magnetic sensor for navigation systems are presented in this paper. An aiding navigation method is proposed using magnetic measurements. As a practical problem, the typical Hard-iron and Soft-iron effects, which have great impacts on the reference heading, are intensively illustrated. To realize the magnetic compensation for the sensors, a soft calibration method, which is called the least squares fitting error compensation, is designed and applied to the systems, and the realization procedure is stressed by elaborate analyses as well. According to the established mathematical model, and through evaluating and testing calibration data, we manage to fit the ellipse, and transform it to be a circle by determining the alterative centre and axial offsets. The simulation test shows that the heading error never excels 6o ± , which satisfies the performance requirements of the solo magnetic sensors applications for navigation. This particular compensation scheme, illustrated here proves to be a practical approach for deriving accurate body heading angle estimates.
magnetic deviation compensation heading ellipse fitting navigation
XIA Linlin LIU Fanming GUO Qiufen WANG Wenjing
Passive Navigation Lab College of Automation, Harbin Engineering University, Harbin, 150001
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）