Abstract
The real-time accurate measurement of the geomagnetic-field is the foundation to achieving high-precision geomagnetic navigation. The existing geomagnetic-field measurement models are essentially simplified models that cannot accurately describe the sources of measurement error. This paper, on the basis of systematically analyzing the source of geomagnetic-field measurement error, built a complete measurement model, into which the previously unconsidered geomagnetic daily variation field was introduced. This paper proposed an extended Kalman-filter based compensation method, which allows a large amount of measurement data to be used in estimating parameters to obtain the optimal solution in the sense of statistics. The experiment results showed that the compensated strength of the geomagnetic field remained close to the real value and the measurement error was basically controlled within 5nT. In addition, this compensation method has strong applicability due to its easy data collection and ability to remove the dependence on a high-precision measurement instrument.
Highlights
The geomagnetic-field is an inherent physical field of the earth
As the spectral range of the geomagnetic field is very wide, the measurement of the geomagnetic field is subject to interference, causing the output of the magnetic sensor to contain the geomagnetic information needed for navigation and orientation and contain various interferential information
On the basis of study done by others, this paper improved the existing magnetic-sensor measurement-error model, introduced the geomagnetic daily variation field and built a new model that includes the magnetic sensor’s manufacturing error, installation error and the interference of the external electromagnetic environment
Summary
The geomagnetic-field is an inherent physical field of the earth. For navigation and orientation, the geomagnetic-field has several advantages. References [6, 9, 16,17,18,19] put forward ellipsoid fitting algorithm, which calculates ellipse parameters with least-square method or iterative algorithm and indirectly performs error compensation based on the characteristic that the track of the geomagnetic field subjected to various interferences in a fixed space is ellipsoid. On the basis of study done by others, this paper improved the existing magnetic-sensor measurement-error model, introduced the geomagnetic daily variation field and built a new model that includes the magnetic sensor’s manufacturing error, installation error and the interference of the external electromagnetic environment. Due to the Kalman filter’s good capability to constrain noise, this method can effectively prevent strange solutions in the process of seeking the solution and eventually realize high-precision compensation of measured data
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