Research On Calibration Technology Of Triaxial Magnetometer Array With Optimal Arrangement Of Magnetic Field

Triaxial magnetometer array is an important magnetic field measurement sensor in magnetic field positioning technology.In positioning,navigation and other technologies,and triaxial magnetometer array will directly affect the positioning accuracy.Therefore,the research on its calibration method has been paid attention by scholars all over the world.How to calibrate the triaxial magnetometer array quickly,accurately and simply is the focus and difficulty in the research field of triaxial magnetometer array calibration.Based on the above problems,this theisis studies the calibration technology of cuboid array of triaxial magnetometer with optimal arrangement of magnetic field.The research work mainly focuses on the following aspects:The calibration theory of three-axis magnetometer is studied.The errors of three-axis magnetometer mainly include zero bias error,coefficient error and three-axis orthogonality error.Through the analysis of the above three errors,the error correction model of three-axis magnetometer is established.Using the modulus invariance of the geomagnetic field,the total error parameters of the three-axis magnetometer are identified from the geomagnetic field vector measurement data under different attitudes,so as to construct an error corrector.The total error of the three-axis magnetometer is corrected by the constructed error corrector,and the corrected measured magnetic field is obtained.The total error parameter identification and correction algorithm of three-axis magnetometer independent of geomagnetic field is deduced,the error factors affecting the correction effect are analyzed,and the analytical formula of the error in addition to the correction algorithm is deduced.The numerical simulation results verify the correctness of the error analytical formula and the relationship between different error factors and the correction results.The reliability of this correction method is verified by field experiments.A cuboid array calibration method of three-axis magnetometer with optimal arrangement of magnetic field is proposed,and the experimental scheme and steps of array calibration are described.After the numerical simulation experiment,the optimal magnetic field arrangement of the cuboid array of triaxial magnetometer is obtained by screening the calibration results.The reliability of the magnetic field optimal layout calibration algorithm is verified by field experiment.