CN107861084B - A kind of magnetometer calibration method and device - Google Patents
A kind of magnetometer calibration method and device Download PDFInfo
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- CN107861084B CN107861084B CN201711090851.XA CN201711090851A CN107861084B CN 107861084 B CN107861084 B CN 107861084B CN 201711090851 A CN201711090851 A CN 201711090851A CN 107861084 B CN107861084 B CN 107861084B
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- G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
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Abstract
The invention discloses a kind of magnetometer calibration methods, this method comprises: magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength, and the magnetic induction line direction of the three-dimensional magnetic field is placed in parallel respectively by each axis of three axis of the magnetometer；Obtain corresponding output valve when at least four different placement directions of magnetometer；According to the field strength values of the magnetometer corresponding output valve and the three-dimensional magnetic field in described at least four different placement directions, the calibration parameter of the magnetometer is calculated, to complete the calibration to the magnetometer.Magnetometer calibration scheme of the invention realizes that calibration experiments ambient stable, calibration parameter are comprehensive, and calibration speed higher compared to uniaxial calibration program accuracy is faster, magnetometer instrument error itself can be eliminated, the chip-scale calibration of three axis of magnetometer while calibration is realized.
Description
Technical field
The present invention relates to magnetometer calibration fields, and in particular to a kind of magnetometer calibration method and device.
Background technique
Previous magnetometer calibration is all plane calibration method or eight word calibration methods, by the soft magnetism effect in environment and firmly
Magnetic effect eliminates, but above-mentioned calibration method is a kind of environment calibration method, after changing a new environment, and needs weight
New calibration, and the accuracy calibrated is built upon under the premise of assuming that magnetometer output data is accurate, then magnetometer exports number
According to whether accurately how judging
Summary of the invention
In view of the above problems, it proposes on the present invention overcomes the above problem or at least be partially solved in order to provide one kind
State the magnetometer calibration method and device of problem.
According to an aspect of the invention, there is provided a kind of magnetometer calibration method, this method comprises:
Magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength, and by the every of three axis of the magnetometer
A axis respectively place in parallel by the magnetic induction line direction of the three-dimensional magnetic field；
Obtain corresponding output valve when at least four different placement directions of magnetometer；
According to the magnetometer in described at least four different placement directions corresponding output valve and the three-dimensional magnetic field
Field strength values, the calibration parameter of the magnetometer is calculated, to complete calibration to the magnetometer.
Optionally, described that magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength, and by the magnetic force
Counting each axis of three axis, the magnetic induction line direction of the parallel three-dimensional magnetic field places and includes: respectively
Magnetometer to be calibrated is put into the bosom of the hot-wire coil of three axis, and by three axis of the magnetometer
The magnetic induction line direction of each axis parallel three axis of the hot-wire coil respectively place, each axis of three axis of the hot-wire coil
The field strength values at center are far longer than the mean intensity in earth magnetic field.
Optionally, the output valve corresponding when obtaining the different placement directions of the magnetometer at least four includes:
By the X-axis positive direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetic
The positive negative direction of the Y-axis of power meter respectively place in parallel by the magnetic induction line direction of the Y-axis of the hot-wire coil, by the Z axis of the magnetometer
Positive negative direction respectively place in parallel by the magnetic induction line direction of the Z axis of the hot-wire coil, can be there are four types of different placement directions；
By the X-axis negative direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetic
The positive negative direction of the Y-axis of power meter respectively place in parallel by the magnetic induction line direction of the Y-axis of the hot-wire coil, by the Z axis of the magnetometer
Positive negative direction respectively place in parallel by the magnetic induction line direction of the Z axis of the hot-wire coil, and can be there are four types of different placement directions；
The magnetometer is connected by connection with external display end, reads the magnetometer in above-mentioned eight kinds
The output valve of corresponding three axis when at least four different placement directions.
Optionally, it is described according to the magnetometer in described at least four different placement directions corresponding output valve and institute
The field strength values for stating three-dimensional magnetic field, the calibration parameter for calculating the magnetometer include:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the X-axis of the hot-wire coil, the magnetic in parallel of the positive negative direction of the X-axis of the magnetometer
The magnetic induction line direction placement of the Y-axis of the hot-wire coil and the Z axis of the magnetometer are positive and negative in parallel for the positive negative direction of the Y-axis of power meter
When the magnetic induction line direction of the direction Z axis of the hot-wire coil in parallel is placed, it is respectively right when at least four different placement directions to choose
The output valve for three axis answered and the magnetic field strength input value of three axis substitute into above-mentioned fundamental parameter equations, utilize least square method
Solution obtains 12 calibration parameters of the magnetometer.
Optionally, the field strength values of each axis center of three axis of the hot-wire coil are 200GS.
According to another aspect of the present invention, a kind of magnetometer calibration device is provided, which includes:
Placement unit, for magnetometer to be calibrated to be put into the constant three-dimensional magnetic field of magnetic field strength, and by the magnetic
Each axis of three axis of power meter respectively place in parallel by the magnetic induction line direction of the three-dimensional magnetic field；
Output valve acquiring unit, corresponding output valve when for obtaining at least four different placement directions of magnetometer；
Calibration parameter computing unit, for corresponding in described at least four different placement directions according to the magnetometer
The field strength values of output valve and the three-dimensional magnetic field calculate the calibration parameter of the magnetometer, to complete to the magnetometer
Calibration.
Optionally, the placement unit, specifically for magnetometer to be calibrated to be put into the hot-wire coil of three axis
Bosom, and the magnetic induction line direction of three axis of the hot-wire coil is put in parallel respectively by each axis of three axis of the magnetometer
It sets, the field strength values of each axis center of three axis of the hot-wire coil are far longer than the mean intensity in earth magnetic field.
Optionally, the output valve acquiring unit is specifically used for,
By the X-axis positive direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetic
The positive negative direction of the Y-axis of power meter respectively place in parallel by the magnetic induction line direction of the Y-axis of the hot-wire coil, by the Z axis of the magnetometer
Positive negative direction respectively place in parallel by the magnetic induction line direction of the Z axis of the hot-wire coil, can be there are four types of different placement directions；
By the X-axis negative direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetic
The positive negative direction of the Y-axis of power meter respectively place in parallel by the magnetic induction line direction of the Y-axis of the hot-wire coil, by the Z axis of the magnetometer
Positive negative direction respectively place in parallel by the magnetic induction line direction of the Z axis of the hot-wire coil, and can be there are four types of different placement directions；
The magnetometer is connected by connection with external display end, reads the magnetometer in above-mentioned eight kinds
The output valve of corresponding three axis when at least four different placement directions.
Optionally, the calibration parameter computing unit is specifically used for,
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the X-axis of the hot-wire coil, the magnetic in parallel of the positive negative direction of the X-axis of the magnetometer
The magnetic induction line direction placement of the Y-axis of the hot-wire coil and the Z axis of the magnetometer are positive and negative in parallel for the positive negative direction of the Y-axis of power meter
When the magnetic induction line direction of the direction Z axis of the hot-wire coil in parallel is placed, it is respectively right when at least four different placement directions to choose
The output valve for three axis answered and the magnetic field strength input value of three axis substitute into above-mentioned fundamental parameter equations, utilize least square method
Solution obtains 12 calibration parameters of the magnetometer.
Optionally, the field strength values of each axis center of three axis of the hot-wire coil are 200GS.
The beneficial effects of the present invention are:
The technical scheme is that magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength, and by institute
The each axis magnetic induction line direction placement of the three-dimensional magnetic field in parallel respectively for stating three axis of magnetometer, obtains the magnetometer at least
Corresponding output valve when four kinds of different placement directions, then according to the magnetometer in described at least four different placement directions
The field strength values of corresponding output valve and the three-dimensional magnetic field calculate the calibration parameter of the magnetometer, to complete to described
The calibration of magnetometer.Magnetometer calibration scheme of the invention realizes that calibration experiments ambient stable, calibration parameter are comprehensive, compared to single shaft
Calibration program accuracy is higher and calibration speed faster, magnetometer instrument error itself can be eliminated, realize three axis of magnetometer
The chip-scale calibration of calibration simultaneously.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for magnetometer calibration method that one embodiment of the present of invention provides；
Fig. 2 is a kind of functional schematic for magnetometer calibration device that one embodiment of the present of invention provides；
Fig. 3 is the structure that the magnetometer X-axis positive direction that one embodiment of the present of invention provides is placed along magnetic induction line direction
Figure；
Fig. 4 is the shape picture of three axial coils；
Fig. 5 is the section signal of three axial coils, three axis shown in Fig. 4；
Fig. 6 is right-hand rule signal.
Specific embodiment
Core of the invention thought is:
Inventor expects a kind of magnetometer calibration method, i.e., magnetometer to be calibrated is put into the constant three-dimensional of magnetic field strength
In magnetic field, and the magnetic induction line direction of the three-dimensional magnetic field is placed in parallel respectively by each axis of three axis of the magnetometer, thus
Obtain corresponding output valve when the different placement directions of the magnetometer at least four, then according to the magnetometer it is described at least
The field strength values of corresponding output valve and the three-dimensional magnetic field, calculate the calibration of the magnetometer when four kinds of different placement directions
Parameter, to complete the calibration to the magnetometer.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of magnetometer calibration method flow schematic diagram that one embodiment of the present of invention provides, as shown in Figure 1,
This method comprises:
Magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength by step S101, and by magnetometer three
It places in the magnetic induction line direction that each axis of axis distinguishes parallel three-dimensional magnetic field.
Wherein, the equipment for generating the constant three-dimensional magnetic field of magnetic field strength can be three axial coils.The outline drawing of three axial coils
Piece is as shown in figure 4, the section signal of three axis is as shown in Figure 5.
In a preferred embodiment of the invention, for three axial coils of selection under power on condition, the axial maximum of each coil can
Magnetic field strength with generation is 200GS, and the mean intensity in earth magnetic field is 0.4~0.6GS, the magnetic field generated relative to equipment
It is one a small amount of, one can consider that the magnetic field value that equipment provides is constant 200GS.
Step S101 is specifically as follows, and magnetometer to be calibrated is put into the bosom of the hot-wire coil of three axis,
And the magnetic induction line direction that each axis of three axis of magnetometer distinguishes three axis of parallel hot-wire coil is placed, three axis of hot-wire coil
The field strength values of each axis center be far longer than the mean intensity in earth magnetic field.
The basic theories basis for generating three-dimensional magnetic field, is the magnetic induction line side that hot-wire coil is judged according to right-hand rule
To.Right-hand rule signal is by S-N, according to right in coil inside as shown in fig. 6, magnetic induction line in coil outer is by N-S
Title property is by the parallel lines at the end S to N-terminal, and coil inside is the region that we pay close attention to.
Step S102 obtains corresponding output valve when at least four difference placement direction of magnetometer.
Since the equipment for generating the constant three-dimensional magnetic field of magnetic field strength is motionless, so magnetometer can be placed on by we
It among coil inside, is communicated with the outside and is connect by USB, obtain the data of three axle magnetometer generation.
Step S102 is specifically as follows, and the magnetic induction line direction of the X-axis of the parallel hot-wire coil of X-axis positive direction of magnetometer is put
It sets, the magnetic induction line direction that the positive negative direction of the Y-axis of magnetometer distinguishes the Y-axis of parallel hot-wire coil is placed, just by the Z axis of magnetometer
The magnetic induction line direction that negative direction distinguishes the Z axis of parallel hot-wire coil is placed, can be there are four types of different placement directions；
The magnetic induction line direction of the X-axis of the parallel hot-wire coil of X-axis negative direction of magnetometer is placed, just by the Y-axis of magnetometer
The magnetic induction line direction that negative direction distinguishes the Y-axis of parallel hot-wire coil is placed, by the parallel energization respectively of the positive negative direction of the Z axis of magnetometer
The magnetic induction line direction of the Z axis of coil is placed, and can be there are four types of different placement directions；
Magnetometer is connected by connection with external display end, at least four of magnetometer in above-mentioned eight kinds are read
The output valve of corresponding three axis when different placement directions.
For example, magnetic induction line direction represents magnetic by S to N, rectangular coordinate system as shown in figure 3, magnetometer is put into coil inside
Three axis of power meter are the magnetic induction line of the X-axis of the parallel hot-wire coil of X-axis positive direction of magnetometer when according to placing shown in Fig. 3
Direction, the magnetic induction line direction of the Y-axis of the parallel hot-wire coil of Y-axis positive direction of magnetometer is parallel with the Z axis positive direction of magnetometer to be led to
The case where magnetic induction line direction of the Z axis of electric coil is placed, by USB interface, the output of three axis when reading such placement direction
Value.
Step S103, according to the magnetic of magnetometer corresponding output valve and three-dimensional magnetic field at least four different placement directions
Field intensity value calculates the calibration parameter of magnetometer, to complete the calibration to magnetometer.
Wherein, stationary magnetic field can be generated in tri- axis direction of XYZ simultaneously since this equipment is one, so will be right simultaneously
Three axis of magnetometer are calibrated.
Step S103 is specifically as follows:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
Place in the magnetic induction line direction of the X-axis of the parallel hot-wire coil of the positive negative direction of the X-axis of magnetometer, the Y-axis of magnetometer just
The magnetic induction line direction of the Y-axis of the parallel hot-wire coil of negative direction is placed and the Z of the parallel hot-wire coil of the positive negative direction of Z axis of magnetometer
When the magnetic induction line direction of axis is placed, the output valve of corresponding three axis and three are chosen when at least four different placement directions
The magnetic field strength input value of axis substitutes into above-mentioned fundamental parameter equations, solves to obtain 12 calibrations of magnetometer using least square method
Parameter.
The embodiment of the present invention is put into magnetometer to be calibrated in the hot-wire coil of three axis, and by three axis of magnetometer
Each axis distinguish the magnetic induction line direction of parallel hot-wire coil and place, thus when obtaining the different placement directions of magnetometer at least four
Corresponding output valve.Magnetometer calibration method of the invention, global advantage are:
(1) experimental situation is stablized
By the right-hand rule basic principle of electric magnetisation, available one stabilization relative to big hundred times of earth's magnetic field
Magnetic field, and magnetic induction line direction is parallel in this magnetic field, this provides environment for our chip-scale magnetometer calibrations.
(2) calibration parameter is comprehensive
Calibration method of the invention includes magnetometer axes auto-correlation calibration factor, cross-correlation calibration factor, and zero bias etc. 12
Calibration factor can cover most possible factors, keep calibration effect more accurate.
(3) accuracy is higher
The present invention provides a kind of schemes calibrated simultaneously based on three axis of magnetometer, and in practical applications, three axis all can
Cutting magnetic induction line has registration output, so the cross sensitivity factors of calibration have magnetic field strength to have magnetic field than single shaft in three axis
Intensity more matches practical application scene, keeps result more accurate.
(4) calibration speed is faster
Single shaft calibration needs to calibrate 6 times, i.e. X's is positive and negative, Y-axis it is positive and negative, the positive and negative of Z axis has registration respectively.But it is our
Method totally 12 unknown numbers, calibration generates 3 equations every time, so 12 equations can be generated by theoretically only needing to calibrate 4 times,
12 positional numbers are solved, so substantially increasing in the time efficiency of calibration.
It follows that magnetometer calibration scheme of the invention realizes that calibration experiments ambient stable, calibration parameter are comprehensive, compare
Uniaxial calibration program accuracy is higher and calibration speed faster, magnetometer instrument error itself can be eliminated, realize magnetic force
Count the chip-scale calibration of three axis while calibration.
We select three axis to generate the hot-wire coil of 200GS field strength values below, are put down with the X-axis positive direction of magnetometer
The magnetic induction line direction of row hot-wire coil is illustrated for placing.
Firstly, being analyzed from the fundamental parameter equations of magnetometer:
There are 6 known quantities in above-mentioned magnetometer fundamental parameter equations, the field strength values and magnetic generated including hot-wire coil
The output registration of three axis of power meter.There are 12 unknown quantitys in magnetometer fundamental parameter equations, is calibrated simultaneously using three axis
Advantage major embodiment 9 unknown quantitys, respectively k whereinxxIt is when x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient
(unknown quantity), kxyIt is as x-axis input fixation, x-axis y-axis cross sensitivity correction coefficient (unknown quantity), kxzIt is when x-axis input is solid
It is fixed, x-axis z-axis cross sensitivity correction coefficient (unknown quantity), kyxIt is when y-axis input is fixed, y-axis x-axis cross sensitivity corrects system
Number (unknown quantity), kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient (unknown quantity), kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient (unknown quantity), kzxIt is when z-axis input is fixed, z-axis x-axis cross sensitivity corrects system
Number (unknown quantity), kzyIt is as z-axis input fixation, z-axis y-axis cross sensitivity correction coefficient (unknown quantity), kzzIt is when z-axis inputs
It is fixed, z-axis auto-correlation sensitivity correction coefficient (unknown quantity).
This method and uniaxial calibration are compared that (i.e. an axial direction has registration, other two axis registrations are 0), to have as follows
Advantage:
(1) when uniaxial calibration, one of axis inputs a determining magnetic field strength, another two axial magnetic field by coil
Intensity is 0.In fact, it is difficult to realize that another two axis magnetic field strength, which is 0, it can only be an estimated value in other words.Because of the earth
All there is magnetic field strength in magnetic field in tri- directions XYZ, we are difficult to accomplish only one axis cutting magnetic induction line another two of three axis
A axis is not cut, this is difficult to judge on direction, even if obtaining direction, it is also difficult to fixed.
(2) for the practical application scene of magnetometer, in practical applications, three axis all can cutting magnetic induction line have registration
Output is actually answered so the cross sensitivity factors of calibration have magnetic field strength to have magnetic field strength more to match than single shaft in three axis
With scene, keep result more accurate.
(3) besides rate of calibration problem, single shaft calibration need to calibrate 6 times, i.e. X's is positive and negative, Y-axis it is positive and negative, Z axis is just
It is negative to have registration respectively.But this algorithm totally 12 unknown numbers, calibration generates 3 equations every time, so theoretically only needing to calibrate 4
It is secondary to generate 12 equations, 12 unknown numbers are solved, so substantially increasing in the time efficiency of calibration.
Therefore, compare by analysis, bring 4 calibration programs preceding in table 1 into magnetometer fundamental parameter equations.
Table 1:
Certain this method can be with the scheme of a total of 8 kinds different placement directions, and scheme is more, will cause equation number and is greater than not
Know several situations, can be solved at this time using least square method, it theoretically can be than using first four calibration program more accurate.
Fig. 2 is a kind of magnetometer calibration apparatus function figure that one embodiment of the present of invention provides, if Fig. 2 shows, the device
200 include:
Placement unit 201, for magnetometer to be calibrated to be put into the constant three-dimensional magnetic field of magnetic field strength, and by magnetic force
The each axis for counting three axis distinguishes the magnetic induction line direction placement of parallel three-dimensional magnetic field；
Output valve acquiring unit 202, corresponding output valve when for obtaining at least four difference placement direction of magnetometer；
Calibration parameter computing unit 203, for the corresponding output at least four different placement directions according to magnetometer
The field strength values of value and three-dimensional magnetic field, calculate the calibration parameter of magnetometer, to complete the calibration to magnetometer.
In one embodiment of the invention, placement unit 201, specifically for magnetometer to be calibrated is put into one three
The bosom of the hot-wire coil of axis, and each axis of three axis of magnetometer is distinguished to the magnetic induction line of parallel three axis of hot-wire coil
Direction is placed, and the field strength values of each axis center of three axis of hot-wire coil are far longer than the mean intensity in earth magnetic field.
In one embodiment of the invention, output valve acquiring unit 202 is specifically used for,
The magnetic induction line direction of the X-axis of the parallel hot-wire coil of X-axis positive direction of magnetometer is placed, just by the Y-axis of magnetometer
The magnetic induction line direction that negative direction distinguishes the Y-axis of parallel hot-wire coil is placed, by the parallel energization respectively of the positive negative direction of the Z axis of magnetometer
The magnetic induction line direction of the Z axis of coil is placed, can be there are four types of different placement directions；
The magnetic induction line direction of the X-axis of the parallel hot-wire coil of X-axis negative direction of magnetometer is placed, just by the Y-axis of magnetometer
The magnetic induction line direction that negative direction distinguishes the Y-axis of parallel hot-wire coil is placed, by the parallel energization respectively of the positive negative direction of the Z axis of magnetometer
The magnetic induction line direction of the Z axis of coil is placed, and can be there are four types of different placement directions；
Magnetometer is connected by connection with external display end, at least four of magnetometer in above-mentioned eight kinds are read
The output valve of corresponding three axis when different placement directions.
In one embodiment of the invention, calibration parameter computing unit 203 is specifically used for,
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is magnetometer z-axis
Output valve, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis,
kxxIt is as x-axis input fixation, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input fixation, x-axis y-axis cross sensitivity
Correction coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input fixation, y-axis x-axis
Cross sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is when y-axis input is solid
It is fixed, y-axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is
It is fixed when z-axis inputs, z-axis y-axis cross sensitivity correction coefficient, kzzIt is when z-axis input fixation, z-axis auto-correlation sensitivity correction
Coefficient, offset_x are the zero bias values of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
Place in the magnetic induction line direction of the X-axis of the parallel hot-wire coil of the positive negative direction of the X-axis of magnetometer, the Y-axis of magnetometer just
The magnetic induction line direction of the Y-axis of the parallel hot-wire coil of negative direction is placed and the Z of the parallel hot-wire coil of the positive negative direction of Z axis of magnetometer
When the magnetic induction line direction of axis is placed, the output valve of corresponding three axis and three are chosen when at least four different placement directions
The magnetic field strength input value of axis substitutes into above-mentioned fundamental parameter equations, solves to obtain 12 calibrations of magnetometer using least square method
Parameter.
In one embodiment of the invention, the field strength values of each axis center of three axis of hot-wire coil are
200GS。
In conclusion the technical scheme is that magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength
In, and the magnetic induction line direction of the three-dimensional magnetic field is placed in parallel respectively by each axis of three axis of the magnetometer；Described in acquisition
Corresponding output valve when at least four difference placement direction of magnetometer；According to the magnetometer in described at least four different placements
The field strength values of corresponding output valve and three-dimensional magnetic field when direction, calculate the calibration parameter of the magnetometer, to complete
Calibration to the magnetometer.Magnetometer calibration scheme of the invention realizes that calibration experiments ambient stable, calibration parameter are comprehensive, phase
And calibration speed higher than uniaxial calibration program accuracy faster, can eliminate magnetometer instrument error itself, realize magnetic
The chip-scale calibration that three axis of power meter is calibrated simultaneously.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (8)
1. a kind of magnetometer calibration method, which is characterized in that this method comprises:
Magnetometer to be calibrated is put into the constant three-dimensional magnetic field of magnetic field strength, and by each axis of three axis of the magnetometer
The magnetic induction line direction of the parallel three-dimensional magnetic field is placed respectively；
Obtain corresponding output valve when at least four different placement directions of magnetometer；
According to the magnetic of the magnetometer corresponding output valve and the three-dimensional magnetic field in described at least four different placement directions
Field intensity value calculates the calibration parameter of the magnetometer, to complete the calibration to the magnetometer；
The constant three-dimensional magnetic field of the magnetic field strength is generated by the hot-wire coil of three axis；
It is described according to the magnetometer in described at least four different placement directions corresponding output valve and the three-dimensional magnetic field
Field strength values, the calibration parameter for calculating the magnetometer includes:
Fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is the output of magnetometer z-axis
Value, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis, kxxIt is
It is fixed when x-axis inputs, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input is fixed, x-axis y-axis cross sensitivity corrects
Coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input is fixed, y-axis x-axis is intersected
Sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is as y-axis input fixation, y
Axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is to work as z-axis
Input is fixed, z-axis y-axis cross sensitivity correction coefficient, kzzIt is to be fixed when z-axis inputs, z-axis auto-correlation sensitivity correction coefficient,
Offset_x is the zero bias value of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the X-axis of the hot-wire coil, the magnetometer in parallel of the positive negative direction of the X-axis of the magnetometer
The positive negative direction of Y-axis in parallel the Y-axis of the hot-wire coil magnetic induction line direction place and the magnetometer the positive negative direction of Z axis
When the magnetic induction line direction of the Z axis of the parallel hot-wire coil is placed, choose corresponding when at least four different placement directions
The output valve of three axis and the field strength values of three axis substitute into above-mentioned fundamental parameter equations, solve to obtain using least square method
12 calibration parameters of the magnetometer.
2. the method as described in claim 1, which is characterized in that described that magnetometer to be calibrated is put into magnetic field strength is constant
In three-dimensional magnetic field, and packet is placed in the magnetic induction line direction of the three-dimensional magnetic field in parallel respectively by each axis of three axis of the magnetometer
It includes:
Magnetometer to be calibrated is put into the bosom of the hot-wire coil of three axis, and by the every of three axis of the magnetometer
A axis respectively place in parallel by the magnetic induction line direction of three axis of the hot-wire coil, each axis center of three axis of the hot-wire coil
Field strength values be far longer than the mean intensity in earth magnetic field.
3. method according to claim 2, which is characterized in that described to obtain the different placement directions of the magnetometer at least four
When corresponding output valve include:
By the X-axis positive direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetometer
The magnetic induction line direction of the positive negative direction of the Y-axis Y-axis of the parallel hot-wire coil respectively place, the Z axis of the magnetometer is positive and negative
The magnetic induction line direction of the Z axis of the hot-wire coil is placed in parallel respectively in direction, can be there are four types of different placement directions；
By the X-axis negative direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetometer
The magnetic induction line direction of the positive negative direction of the Y-axis Y-axis of the parallel hot-wire coil respectively place, the Z axis of the magnetometer is positive and negative
The magnetic induction line direction of the Z axis of the hot-wire coil is placed in parallel respectively in direction, and can be there are four types of different placement directions；
The magnetometer is connected by connection with external display end, reads the magnetometer in above-mentioned eight kinds at least
The output valve of corresponding three axis when four kinds of different placement directions.
4. method according to claim 2, which is characterized in that the magnetic field of each axis center of three axis of the hot-wire coil is strong
Angle value is 200GS.
5. a kind of magnetometer calibration device, which is characterized in that the device includes:
Placement unit, for magnetometer to be calibrated to be put into the constant three-dimensional magnetic field of magnetic field strength, and by the magnetometer
Each axis of three axis respectively place in parallel by the magnetic induction line direction of the three-dimensional magnetic field；
Output valve acquiring unit, corresponding output valve when for obtaining at least four different placement directions of magnetometer；
Calibration parameter computing unit, for the corresponding output in described at least four different placement directions according to the magnetometer
The field strength values of value and the three-dimensional magnetic field, calculate the calibration parameter of the magnetometer, to complete the school to the magnetometer
It is quasi-；
The constant three-dimensional magnetic field of the magnetic field strength is generated by the hot-wire coil of three axis；
The calibration parameter computing unit is specifically used for, the fundamental parameter equations according to magnetometer:
Wherein, MxoutIt is the output valve of magnetometer x-axis, MyoutIt is the output valve of magnetometer y-axis, MzoutIt is the output of magnetometer z-axis
Value, MxinIt is the input value of magnetometer x-axis, MyinIt is the input value of magnetometer y-axis, MzinIt is the input value of magnetometer z-axis, kxxIt is
It is fixed when x-axis inputs, x-axis auto-correlation sensitivity correction coefficient, kxyIt is when x-axis input is fixed, x-axis y-axis cross sensitivity corrects
Coefficient, kxzIt is as x-axis input fixation, x-axis z-axis cross sensitivity correction coefficient, kyxIt is when y-axis input is fixed, y-axis x-axis is intersected
Sensitivity correction coefficient, kyyIt is as y-axis input fixation, y-axis auto-correlation sensitivity correction coefficient, kyzIt is as y-axis input fixation, y
Axis z-axis cross sensitivity correction coefficient, kzxIt is as z-axis input fixation, z-axis x-axis cross sensitivity correction coefficient, kzyIt is to work as z-axis
Input is fixed, z-axis y-axis cross sensitivity correction coefficient, kzzIt is to be fixed when z-axis inputs, z-axis auto-correlation sensitivity correction coefficient,
Offset_x is the zero bias value of x-axis, and offset_y is the zero bias value of y-axis, and offset_z is the zero bias value of z-axis；
In the magnetic induction line direction placement of the X-axis of the hot-wire coil, the magnetometer in parallel of the positive negative direction of the X-axis of the magnetometer
The positive negative direction of Y-axis in parallel the Y-axis of the hot-wire coil magnetic induction line direction place and the magnetometer the positive negative direction of Z axis
When the magnetic induction line direction of the Z axis of the parallel hot-wire coil is placed, choose corresponding when at least four different placement directions
The output valve of three axis and the field strength values of three axis substitute into above-mentioned fundamental parameter equations, solve to obtain using least square method
12 calibration parameters of the magnetometer.
6. device as claimed in claim 5, which is characterized in that the placement unit, specifically for by magnetometer to be calibrated
It is put into the bosom of the hot-wire coil of three axis, and each axis of three axis of the magnetometer is distinguished into the parallel energization
The magnetic induction line direction of three axis of coil is placed, and the field strength values of each axis center of three axis of the hot-wire coil are much big
Mean intensity in earth magnetic field.
7. device as claimed in claim 6, which is characterized in that the output valve acquiring unit is specifically used for,
By the X-axis positive direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetometer
The magnetic induction line direction of the positive negative direction of the Y-axis Y-axis of the parallel hot-wire coil respectively place, the Z axis of the magnetometer is positive and negative
The magnetic induction line direction of the Z axis of the hot-wire coil is placed in parallel respectively in direction, can be there are four types of different placement directions；
By the X-axis negative direction of the magnetometer in parallel the X-axis of the hot-wire coil magnetic induction line direction place, by the magnetometer
The magnetic induction line direction of the positive negative direction of the Y-axis Y-axis of the parallel hot-wire coil respectively place, the Z axis of the magnetometer is positive and negative
The magnetic induction line direction of the Z axis of the hot-wire coil is placed in parallel respectively in direction, and can be there are four types of different placement directions；
The magnetometer is connected by connection with external display end, reads the magnetometer in above-mentioned eight kinds at least
The output valve of corresponding three axis when four kinds of different placement directions.
8. device as claimed in claim 6, which is characterized in that the magnetic field of each axis center of three axis of the hot-wire coil is strong
Angle value is 200GS.
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| CN112834973A (en) * | 2020-07-30 | 2021-05-25 | 中科知影(北京)科技有限公司 | Calibration system and method for magnetometers |
| CN113156353A (en) * | 2021-02-25 | 2021-07-23 | 江苏中科院智能科学技术应用研究院 | Three-axis magnetometer testing device and method thereof |
| CN116148133B (en) * | 2023-04-25 | 2023-08-29 | 西安热工研究院有限公司 | Method and device for evaluating quality of oil product of power in-use oil |
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