摘要
以陆用车载磁导航为应用背景,提出一种正则化三轴磁力仪标定算法。由于车辆的机动受到限制,用于标定三轴磁力仪的观测方程是严重病态的。传统的三轴磁力仪标定方法缺乏对病态问题的处理,难以获得准确的标定参数。文中采用截断总体最小二乘(TTLS)技术对病态的磁力仪标定问题进行求解。该方法能够有效地抑制观测方程两端的误差,并且适合处理强病态问题。通过车载实验对该方法的有效性进行研究,结果表明文中提出的方法能够有效地减缓磁力仪标定中的病态影响,获得更为稳定的数值解,补偿后的平均航向角估计精度为1.5°,满足车载磁导航的精度要求。
A regularization three-axis magnetometer calibration algorithm is proposed for vehicular naviga- tion. Due to the constrained manoeuvre of the vehicle, a linear observational equation system for calibra- tion of three-axis magnetometer is severely ill-posed. The traditional calibration methods may result in un- reliable solutions in the lack of dealing with ill-posed problem. The ill-posed problem is solved by using the truncated total least squares （TTLS） technique. This method can effectively suppress the errors on both sides of the observation equation. Furthermore, the TTLS method is used to solve the ill-posed prob- lems. A vehicular navigation experiment is conducted to validate the effectiveness of the method. The re- suits show that the proposed algorithm can effectively mitigate the ill-posed problem and obtain more sta- ble numerical solutions. The mean value of the heading angles from the calibrated measurements is equal to 1.5°, which meets the vehicular navigation application.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2015年第3期427-432,共6页
Acta Armamentarii
关键词
控制科学与技术
截断总体最小二乘
标定
车辆导航
control science and technology
truncated total least squares
calibration
vehicle navigation
作者简介
张滢（1988-），女，博士研究生。E-mail：zhangying1988@126．com
杨任农（1969-），男，教授，博士生导师。E-mail：cmproof@gmail．com
