作者：陈雷, 张晓明, 檀杰, 邱江涛

作者单位：中北大学 仪器科学与动态测试教育部重点实验室, 山西 太原 030051

关键词：弹体磁场;磁传感器;误差校正;滤波

摘要：

针对弹体磁场严重影响旋转弹捷联地磁传感器的测量精度这一问题，提出一种基于卡尔曼滤波算法（Kalman filter，KF）的弹体磁场校正方法。利用固定磁场和感应磁场模型，将弹体磁场误差系数转换到椭球参数方程上，从而得到卡尔曼滤波的观测方程。为提高算法的鲁棒性，采用事先标定法建立初始条件。根据卡尔曼滤波原理，给出辨识参数在线更新的实现步骤，推导弹体磁场的校正过程。仿真试验中，通过事先标定法选取初值提高待估参数2倍的收敛速度。转台试验中，弹体磁场校正后的磁测误差接近磁传感器的测量噪声，滚转角解算精度优于1°。试验验证该算法可在线更新弹体磁场误差系数，实现弹体磁场的高精度补偿。

Calibration method of projectile magnetic field for spinning projectiles based on Kalman filter
CHEN Lei, ZHANG Xiaoming, TAN Jie, QIU Jiangtao
Key Laboratory of Instrumentation Science & Dynamic Measure (North University of China), Ministry of Education, Taiyuan 030051, China
Abstract: Aiming at the problem that the magnetic field of the projectile seriously affects the measurement accuracy of the strap-down geomagnetic sensor, a method based on the Kalman filter algorithm is proposed to calibrate the magnetic field of the projectile. Using the fixed magnetic field and induced magnetic field model, the magnetic field error coefficient of the projectile was converted to the parameters of the ellipsoid equation, and the observation equation of the Kalman filter was obtained. In order to improve the robustness of the algorithm, a preliminary calibration method was used to establish the initial conditions. According to the principle of Kalman filter, the implementation steps of online updating of equation coefficients are given, and the correction process of the missile body magnetic field is deduced. In the simulation test, the initial values were selected by the pre-calibration method to increase the convergence rate of the parameter to be estimated twice. In the turntable test, the magnetic measurement errors after the calibration of the magnetic field of the missile body are close to the measurement noise of the magnetic sensor, and the accuracy of the rotation angle is better than 1°. The experiment verifies that the on-line algorithm can update the error coefficient of projectile magnetic field online, and can realize the high-precision compensation of the projectile magnetic field.
Keywords: projectile magnetic field;magnetic sensor;error correction;filter
2019, 45(2):48-53  收稿日期: 2018-06-08;收到修改稿日期: 2018-07-13
基金项目:
作者简介: 陈雷(1993-),男,山东菏泽市人,硕士研究生,专业方向为地磁导航与组合导航
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