光学 精密工程, 2014, 22 (10): 2683, 网络出版: 2014-11-06
四面体磁梯度张量系统的误差补偿
Error compensation of tetrahedron magnetic gradiometer
水下无人航行器 磁梯度张量系统 磁场 系统误差 误差补偿 Unmanned Underwater Vehicle(UUV) magnetic gradient tensor magnetic field systematic error error compensation
摘要
针对搭载于水下无人航行器(UUV)的磁梯度张量系统的系统误差,提出了一种系统误差补偿方法。该方法利用四面体磁梯度张量系统的差分测量算法,融合系统中单个矢量磁力仪的系统误差和磁力仪之间的安装中心错位误差,建立了四面体磁梯度张量系统误差数学模型;基于此数学模型提出了系统误差补偿算法,并根据磁梯度张量9分量之间的数学关系提出了补偿参数辨识方法;最后,通过仿真实验对该方法进行了验证。实验结果表明:该方法可以有效补偿磁梯度张量系统的系统误差,补偿量达96.2%,且补偿效果优于参考文献提出的系统误差补偿方法。该方法利用补偿参数对磁梯度张量系统的输出值直接进行系统误差补偿,从理论上解决了磁梯度张量系统整体误差的统一补偿问题。
Abstract
A compensation method was proposed for systematic errors of the tetrahedron magnetic gradiometer on an Unmanned Underwater Vehicle (UUV). With the difference algorithm based on tetrahedron magnetic gradient tensor, the method fused the error of each vector magnetometer and the installation error between the magnetometers to establish the mathematic model of the magnetic gradiometer errors. Based on this error model, the error compensation algorithm was proposed and the compensation coefficient recognition method was presented by mathematic relations of 9 components of the magnetic gradient tensor. The method was verified by simulation experiments. The simulation results show that the proposed method compensates 96.2% systematic errors of the magnetic gradiometer efficiently, and the compensation effect is better than that of the existing method in references. As the method compensates systematic errors of the magnetic gradiometer output directly by the compensation coefficients, it realizes the holistic systematic error compensation of the magnetic gradiometer theoretically.
于振涛, 吕俊伟, 郭宁, 周静. 四面体磁梯度张量系统的误差补偿[J]. 光学 精密工程, 2014, 22(10): 2683. YU Zhen-tao, Lv Jun-wei, GUO Ning, ZHOU Jing. Error compensation of tetrahedron magnetic gradiometer[J]. Optics and Precision Engineering, 2014, 22(10): 2683.