CAJ | 학술논문

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。
위료해결자라반사용과정중수도적자간우화가속도간우영향측량정도문제。제출료기우타라보조적자라반항간우측량방법。선취자라반자태사원수미분정화전감기오차모형공동구건계통적려파모형，유자괄응잡이만려파산법실현자라반자태고계，병차조우무자전태대측량방법진행료실험험증，결과표명해방법시가유효실현자라반적항간우측량，차능제고자라반측량정도。
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.