CAJ | 학술논문

地磁传感器误差参数通常在事前标定校准，但校准参数在长时间的置放后，或者应用环境的发生改变时，地磁传感器校准参数将会发生变化，从而造成磁测补偿效果并不理想。为期解决上述问题，本文提出了基于滤波技术的地磁传感器误差参数估计与补偿方法。仿真结果表明该方法是可行的，最为重要的是磁传感器通过参数估计与磁测补偿后，其测量精度最少提高了一个数量级。
지자전감기오차삼수통상재사전표정교준，단교준삼수재장시간적치방후，혹자응용배경적발생개변시，지자전감기교준삼수장회발생변화，종이조성자측보상효과병불이상。위기해결상술문제，본문제출료기우려파기술적지자전감기오차삼수고계여보상방법。방진결과표명해방법시가행적，최위중요적시자전감기통과삼수고계여자측보상후，기측량정도최소제고료일개수량급。
The error parameters of a magnetometer,which is calibrated in advance,usually change in different appli-cation environment or after long time placement. However,these parameters impose negative effects on the geomag-netic navigation system. In order to solve the above problem,this paper presents magnetometer error parameters esti-mation and compensation method based on Kalman filter. Simulations demonstrate that the estimator can effectively estimate the error parameters of magnetometer. Moreover,the magnetometer measurement accuracy is at least an or-der of magnitude increase by means of error parameters estimation and magnetic compensation.