Integrated Error Compensation Method for Three-Axis Magnetometer in Geomagnetic Navigation

摘要

In the process of geomagnetic field measurement, the three-axis magnetometer is alfected by various interference factors and produces various errors, which have an impact on the measurement accuracy. In this paper, the joint estimation iterative algorithm is used to calibrate the three-axis magnetometer, and the performance of the method is compared with the EKF algorithm and the nonlinear least squares algorithm. The simulation results show that in the three methods, the error average and the standard deviation of the joint estimation iterative algorithm are the least and the convergence rate is the fastest, which proves that the method is effective and usable. The experimental results show that the joint estimation iterative algorithm reduces the mean average of the measured value of the three-axis magnetometer from 69.5211nT to 9.241nT, the standard deviation is reduced from 122.0014nT to 19.941nT, and the suppression ratio reaches 86.71%. The result suggest an effective way for the calibration of three-axis fluxgate magnetometers.