CAJ | 학술논문

用椭球拟合法进行磁航向传感器误差补偿时,约束矩阵奇异导致算法不稳定.对此提出改进的最小二乘椭球拟合算法,讨论了磁航向传感器的误差来源,建立了误差数学模型.结合对约束矩阵的奇异性分析,提出矩阵分块分解方法解决奇异性问题,并用最小二乘法求解椭球系数.该算法消除了传统算法的不稳定性,降低了计算量.计算机仿真和转台实验表明它能有效补偿磁航向传感器的测量误差,补偿后航向最大误差小于0.42?.
용타구의합법진행자항향전감기오차보상시,약속구진기이도치산법불은정.대차제출개진적최소이승타구의합산법,토론료자항향전감기적오차래원,건립료오차수학모형.결합대약속구진적기이성분석,제출구진분괴분해방법해결기이성문제,병용최소이승법구해타구계수.해산법소제료전통산법적불은정성,강저료계산량.계산궤방진화전태실험표명타능유효보상자항향전감기적측량오차,보상후항향최대오차소우0.42?.
@@@@An improved least-square ellipsoid fitting method for calibrating of magnetic heading sensor is proposed to overcome instability of the traditional ellipsoid fitting algorithm due to singularity of the con-straint matrix. The source of error and the mathematical model are discussed. A method of matrix block decomposition is used to solve the singularity problem of constraint matrix in the traditional algorithm. The ellipsoid parameter is calculated using the least-square algorithm. The proposed method overcomes instability of the traditional algorithm and reduces computation complexity. Simulation and experiments show that the proposed method is effective in magnetic heading sensor calibration. The precision of calibrated heading is better than 0.42?.