Study On Relationship Between Magnetic Measurement System And Gravity Field Measurement System Of Electronic Compass

Strap-down electric compass is a system that uses the earth's magnetic field to measure heading. It is a two triaxial intersections sensor measurement system. With the development of technology and application, high precision electronic compass is requested. When hardware is fixed on, in order to improve precision of the electric compass system, the registration of dissimilar sensors and the optimization of the attitude information are in need.This paper uses the inverse method to register the dissimilar sensors and then uses the Kalman filter to optimize attitude information. Firstly, study the dissimilar sensors' spatial relations, and establish an error model by uniting the information of the dissimilar sensors into one coordinate by coordinate rotation. Secondly, use the inverse arithmetic to estimate the parameters of the error model, then correct heading by interpolating parameter matrix. At last, optimize attitude information by Kalman filter. We can acquire higher accuracy through the method above. The experimental simulations show that the parameters estimation of the error model in electric compass, the correction of a course by the parameters matrix and the pose estimation with Kalman filter are all very effective under a given noise level.