86 / 2021-09-09 17:10:54

车载惯性/磁力计的硬磁干扰抑制及方位估计 Hard iron interference suppression and heading estimation for vehicle-mounted INS/magnetometer integration

车载航向,惯性/磁力计,硬磁干扰,粒子滤波

摘  要：基于惯性/磁力计的信息融合广泛使用于低成本导航系统。针对惯性航向的累积误差问题，这种组合方式比仅依靠磁力计更为有效。但是，磁力计易受附近铁磁材料或强电流产生的局部磁场干扰，进一步影响信息融合的航向精度。当磁力计安装在动力部件（发动机等）附近时，可以只考虑硬磁干扰而忽略软磁干扰。本文针对硬磁干扰引起的惯性/磁力计组合航向不准确的问题，建立航向与硬磁干扰的非线性模型，并使用粒子滤波实现惯性/磁力计车载航向估计。最后，实验结果表明该算法有效提高了车载航向的计算精度。

Abstract: Inertial navigation system (INS)/magnetometer integration is widely used in low-cost navigation systems. On the problem of suppressing the cumulative error of the INS heading, the combination method is more effective than relying only on the magnetometer. However, the magnetometer is susceptible to interference from nearby ferromagnetic materials or local magnetic fields generated by strong currents, which reduces the heading accuracy of information fusion. When the magnetometer is installed near power components (engines, etc.), only hard iron interference can be considered, and soft magnetic interference can be ignored. Hence, An INS/magnetometer information fusion method based on particle filter (PF) is proposed in this paper. A nonlinear model of heading and hard iron interference is established, then PF is adopted to realize the INS/magnetometer vehicle heading estimation. Finally, the experiment  results show that the proposed algorithm effectively improves accuracy of the vehicle heading.