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CN119469094A - A method for integrating optical fiber compass and magnetic compass into a calibration system - Google Patents

A method for integrating optical fiber compass and magnetic compass into a calibration system Download PDF

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Publication number
CN119469094A
CN119469094A CN202411634651.6A CN202411634651A CN119469094A CN 119469094 A CN119469094 A CN 119469094A CN 202411634651 A CN202411634651 A CN 202411634651A CN 119469094 A CN119469094 A CN 119469094A
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compass
magnetic
fiber optic
magnetic field
optical fiber
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刘伟
王昕懿
邹锐
宋世磊
许一鸣
矫鸿远
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Cssc Marine Technology Co ltd
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Cssc Marine Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

本发明涉及船用导航领域，尤其涉及一种光纤罗经和磁罗经一体化校准方法，其包括使用光纤罗经对磁罗经进行补偿，以及使用磁罗经作为观测量，对光纤罗经的航向输出进行约束。本发明提供的一种光纤罗经和磁罗经一体化校准方法，结合光纤罗经和磁罗经的工作特点，使光纤罗经和磁罗经之间互为补充，互为校准，既增加了系统可靠性，也能通过数据融合提高系统精度。

The present invention relates to the field of marine navigation, and in particular to an integrated calibration method for a fiber optic compass and a magnetic compass, which includes using a fiber optic compass to compensate a magnetic compass, and using a magnetic compass as an observation quantity to constrain the heading output of the fiber optic compass. The present invention provides an integrated calibration method for a fiber optic compass and a magnetic compass, which combines the working characteristics of the fiber optic compass and the magnetic compass, so that the fiber optic compass and the magnetic compass complement and calibrate each other, thereby increasing system reliability and improving system accuracy through data fusion.

Description

Optical fiber compass and magnetic compass integrated calibration method
Technical Field
The invention relates to the technical field of navigation for ships, in particular to an integrated calibration method for an optical fiber compass and a magnetic compass.
Background
The compass is an instrument and equipment for determining the course of the ship, is widely applied to navigation and provides guarantee for the safe navigation of the ship. The optical fiber compass senses angular movement of the ship through the optical fiber gyro, and the course and posture information of the carrier under a local geographic coordinate system are obtained through calculation through a strapdown mathematical platform by utilizing the earth rotation information.
Magnetic compass refers to a device that uses the action of the earth's magnetic field to observe but the geographic orientation and heading of the vessel. The optical fiber compass and the magnetic fiber compass are commonly used on ships in parallel, the optical fiber compass is used for horizontal leveling and heading correction by utilizing the compass effect, the optical fiber compass has the advantage of good dynamic performance, the heading precision depends on the compass loop and the Kalman filtering operation effect, the long-term stability of the optical fiber compass is required to be improved, the magnetic compass is easy to be interfered, and the output precision of the magnetic fiber compass is poor.
Disclosure of Invention
In order to ensure the reliability of a navigation system and improve the system accuracy, the invention provides an integrated calibration method for an optical fiber compass and a magnetic compass, which combines the working characteristics of the optical fiber compass and the magnetic compass, and adds a magnetic sensor measurement module and a data fusion calculation module, wherein the optical fiber compass and the magnetic compass are mutually complemented and mutually calibrated, thereby not only improving the system reliability, but also improving the system accuracy through data fusion.
An integrated calibration method for optical fiber compass and magnetic compass specifically comprises the following steps:
s1, constructing a magnetic compensation algorithm according to the influence of a complex magnetic environment on the magnetic compass and angle data actually output by the optical fiber compass;
S2, judging working calibration modes of the optical fiber compass and magnetic compass integrated equipment after the optical fiber compass and magnetic compass integrated equipment enter a working state, wherein the working calibration modes comprise a magnetic calibration mode and an optical fiber compass calibration mode;
When the optical fiber compass and magnetic compass integrated equipment enters a magnetic calibration mode, substituting the information currently output by the optical fiber compass and the local magnetic field information of the current position of the ship into the magnetic compensation algorithm, and calculating the compensated true north course output by the magnetic compass;
when the optical fiber compass and magnetic compass integrated equipment enters an optical fiber compass calibration mode, the measurement result of the optical fiber compass is corrected by utilizing the compensated true north heading outputted by the magnetic compass through a Kalman filtering algorithm.
Preferably, in step S1, the specific steps of constructing the magnetic compensation algorithm according to the influence of the complex magnetic environment on the magnetic compass and the angle data actually output by the optical fiber compass are as follows:
Calculating the true value of the local geomagnetic field according to the angle data actually output by the optical fiber compass and the projections of the local geomagnetic field in the east, north and sky directions;
Deriving a magnetic compensation calculation formula for compensating the magnetic field data measured by the magnetic compass by utilizing the angle data actually output by the optical fiber compass according to the actual value of the local magnetic field and the magnetic field data actually measured by the magnetic compass;
And calculating to obtain a true north course compensation calculation formula of the magnetic compass by using the compensated magnetic field data output by the magnetic compass and the magnetic bias angle of the local magnetic field.
Preferably, the specific steps of calculating the true value of the local magnetic field according to the angle data actually output by the optical fiber compass and the projections of the local magnetic field in the east, north and sky directions are as follows:
Firstly, according to the angle data actually output by the optical fiber compass, a coordinate conversion matrix from a navigation coordinate system X nYnZn to a carrier coordinate system X bYbZb is obtained
Then, according to the coordinate transformation matrixAnd calculating the true value of the local geomagnetic field by projection of the local geomagnetic field in the east, north and sky directions.
Preferably, the coordinate transformation matrixThe calculation formula of (2) is as follows:
Wherein, psi is the course angle actually output by the optical fiber compass, theta is the pitch angle actually output by the optical fiber compass, and gamma is the roll angle actually output by the optical fiber compass;
the calculation formula of the true value of the local magnetic field is as follows:
Wherein, [ M E MN MU]T ] is the projection of the local magnetic field in the east, north and sky directions.
Preferably, the specific steps for deriving the magnetic compensation calculation formula according to the local geomagnetic field true value and the magnetic field data actually measured by the magnetic compass are as follows:
considering the influence of a complex magnetic environment on the magnetic compass, the magnetic field data actually output by the magnetic compass can be expressed as:
wherein [ M x My Mz]T is the projection of the magnetic field intensity actually output by the magnetic compass in the directions of x, y and z, [ H xHy Hz]T is the true value of the local magnetic field, And B 0 represents the influence of soft magnetic interference and hard magnetic interference on the magnetic field respectively;
Equation (3) may be further expressed as:
Wherein,
Substituting the actual value of the local magnetic field and the magnetic field data actually measured by the magnetic compass into a formula (4) to obtain a relational expression of ferromagnetic interference coefficients A and B;
performing least square fitting on the relation between the ferromagnetic interference coefficients A and B, and calculating to obtain the ferromagnetic interference coefficients A and B;
Substituting the ferromagnetic interference coefficients A and B into the formula (4) to obtain a magnetic compensation calculation formula for compensating magnetic field data actually measured by the magnetic compass by utilizing the angle output by the optical fiber compass.
Preferably, the specific steps of obtaining the true north course compensation calculation formula of the magnetic compass by utilizing the compensated magnetic field data output by the magnetic compass and the magnetic bias angle of the local magnetic field are as follows:
Projection in x-y direction after compensation according to output of magnetic compass AndCalculating a magnetic heading angle;
And obtaining a true north course compensation calculation formula of the magnetic compass according to the magnetic course angle and the magnetic bias angle of the local magnetic field.
Preferably, the calculation formula of the magnetic heading angle is:
Wherein, The magnetic compass outputs are compensated and projected in the x and y directions;
The true north course compensation calculation formula of the magnetic compass is as follows:
Wherein, ψ M is the true north course after the compensation that magnetic compass output, and ψ M0 is local magnetic declination, and local magnetic declination carries out the table look-up according to the longitude and latitude that optical fiber compass output and obtains.
Preferably, in step S2, the specific steps of correcting the measurement result of the optical fiber compass by using the compensated true north heading outputted by the magnetic compass by the kalman filter algorithm are as follows:
The INS navigation parameter error and the drift error of the inertial sensor are selected as the state vector of the filter, and the state vector of the filter can be obtained
Considering the noise of the magnetic compass, the observation equation of the magnetic compass is:
Z(t)=H(t)x(t)+υ(t)(8)
H(t)=[01×2101×18]1×21(9)
The observed quantity of the actual measurement of the magnetic compass is as follows:
Z(t)=ψINS-ψM(10)
Wherein, ψ M is the compensated true north heading outputted by the magnetic compass, and ψ INS is the heading value outputted by the optical fiber compass.
According to formulas (7) - (10), the state variable x (t) is estimated in real time based on a Kalman filtering algorithm, and the measuring result of the optical fiber compass is subjected to open loop correction.
Preferably, the state vector component process of the filter is:
carrying out disturbance analysis on the measurement result of the optical fiber compass, omitting the high-order term of the basic error quantity, and obtaining the linearized inertial navigation attitude, speed and position error equation of the optical fiber compass as follows:
in the formula, alpha and δv n、δpn represent three-dimensional posture, speed and position errors.
The other elements in M pv and M pp are zero, L is the local latitude, R M、RN is the mortise unitary radius and the meridian radius respectively, h is the motion height of the ship, and v E、vN is the east and north speeds of the ship respectively;
fiber optic compass and accelerometer drift errors can be modeled as:
constant zero offset epsilon b Can be expressed as:
first order Gaussian-Markov process ε r and Can be expressed as:
and constructing and obtaining a state vector of the filter according to the inertial navigation attitude, the speed and the position error equation after linearization of the optical fiber compass and the drift error of the optical fiber compass and the accelerometer:
the system state equation of the inertial navigation system is:
Where the submatrix F 12～F33 is an expanded version of equation (11), and 0 represents a3×3 zero matrix.
Wherein, I is a3 x 3 unit array, [ w gx wgy wgz wax way waz]T is the white noise of the optical fiber gyro compass and the accelerometer in the three directions of x, y and z, [ w rgx wrgy wrgz wrax wray wraz]T is the first-order Gaussian-Markov process noise of the optical fiber gyro compass and the accelerometer in the three directions of x, y and z.
In summary, the present invention includes at least one of the following beneficial technical effects:
1. The integrated calibration method for the optical fiber compass and the magnetic compass combines the working characteristics of the optical fiber compass and the magnetic compass, so that the optical fiber compass and the magnetic compass are mutually complemented and mutually calibrated, thereby not only increasing the reliability of the system, but also improving the precision of the system through data fusion.
Drawings
Fig. 1 is a flow chart of an integrated calibration method for optical fiber compass and magnetic compass.
Fig. 2 is a schematic diagram of magnetic compass error in an integrated calibration method for optical fiber compass.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention. The present invention will be described in further detail with reference to fig. 1.
The invention discloses an integrated calibration method for an optical fiber compass and a magnetic compass, which can use the output of the optical fiber compass to compensate the measurement data of the magnetic compass, and can also use the output of the magnetic compass as an observed quantity to restrict the course output of the optical fiber compass.
The invention relates to an integrated calibration method for an optical fiber compass and a magnetic compass, which specifically comprises the following steps:
S1, constructing a magnetic compensation algorithm according to the influence of a complex magnetic environment on the magnetic compass and angle data actually output by the optical fiber compass.
The set of fiber optic gyro compass (comprising an inertial measurement unit and a navigation computer circuit board) can receive satellite navigation system (GNSS) or Doppler log (DVL) information and output information such as heading angle, heading steering Rate (ROT) and the like.
The magnetic sensor measuring module is added in the optical fiber compass, the magnetic sensor measuring axial direction is consistent with the sensitive axial directions of the optical fiber compass gyroscope and the accelerometer, and the magnetic sensor measuring axial directions are respectively directed to the right axial direction, the front axial direction and the upper axial direction of the optical fiber/magnetic integrated compass, and the magnetic field data actually measured by the magnetic sensor are respectively M x、My、Mz.
Specifically, the steps of constructing the magnetic compensation algorithm are:
S11, calculating the actual value of the local geomagnetic field according to the angle data actually output by the optical fiber compass and the projections of the local geomagnetic field in the east, north and sky directions.
That is, first, a coordinate conversion matrix from the navigation coordinate system X nYnZn to the carrier coordinate system X bYbZb is obtained based on the angle data actually output from the optical fiber compass
Wherein, psi is the course angle actually output by the optical fiber compass, theta is the pitch angle actually output by the optical fiber compass, and gamma is the roll angle actually output by the optical fiber compass;
Then, according to the coordinate transformation matrix And calculating the true value of the local geomagnetic field by projection of the local geomagnetic field in the east, north and sky directions.
The calculation formula of the true value of the local magnetic field is as follows:
Wherein, [ M E MN MU]T ] is the projection of the local magnetic field in the east, north and sky directions.
S12, deriving a magnetic compensation calculation formula for compensating the magnetic field data measured by the magnetic compass by utilizing the angle data actually output by the optical fiber compass according to the local geomagnetic field true value and the magnetic field data actually measured by the magnetic compass.
In the azimuth angle resolving process of the magnetic compass, the local geomagnetic field vector information is required to be measured by utilizing a triaxial magnetic sensor, but the magnetic compass is inevitably subjected to various ferromagnetic interferences, and errors are caused to the azimuth angle of the magnetic compass.
That is, considering the influence of a complex magnetic environment on the magnetic compass, the magnetic field data actually output by the magnetic compass can be expressed as:
wherein [ M x My Mz]T is the projection of the magnetic field intensity actually output by the magnetic compass in the directions of x, y and z, [ H xHy Hz]T is the true value of the local magnetic field, And B 0 represents the influence of soft magnetic interference and hard magnetic interference on the magnetic field respectively;
Equation (3) may be further expressed as:
Wherein,
Substituting the actual value of the local magnetic field (the value [ H x Hy Hz]T ] calculated by the formula (2) and the magnetic field data actually measured by the magnetic compass ([ M x My Mz]T), wherein the magnetic field data actually measured by the magnetic compass are values obtained by actual measurement between data correction by the method of the invention, namely uncorrected measured values) into the formula (4) to obtain a relational expression of ferromagnetic interference coefficients A and B;
performing least square fitting on the relation between the ferromagnetic interference coefficients A and B, and calculating to obtain the ferromagnetic interference coefficients A and B;
Substituting the ferromagnetic interference coefficients A and B into the formula (4) to obtain a magnetic compensation calculation formula for compensating magnetic field data actually measured by the magnetic compass by utilizing the angle output by the optical fiber compass.
S13, calculating to obtain a true north course compensation calculation formula of the magnetic compass by using the compensated magnetic field data output by the magnetic compass and the magnetic bias angle of the local magnetic field.
I.e. the projection in x-y direction after compensation according to the output of the magnetic compassAndCalculating a magnetic heading angle:
Wherein, The magnetic compass outputs are compensated and projected in the x and y directions;
Then, according to the magnetic course angle And obtaining a true north course compensation calculation formula of the magnetic compass by the magnetic bias angle of the local magnetic field:
Wherein, ψ M is the true north course after the compensation that magnetic compass output, and ψ M0 is local magnetic deflection angle, and optical fiber compass can also output longitude and latitude information in addition to the course and course steering rate information, and local magnetic deflection angle is obtained according to the longitude and latitude that optical fiber compass output and look up the table.
S2, judging working calibration modes of the optical fiber compass and magnetic compass integrated equipment after the optical fiber compass and magnetic compass integrated equipment enters a working state, wherein the working calibration modes comprise a magnetic calibration mode and an optical fiber compass calibration mode.
When the optical fiber compass and magnetic compass integrated equipment enters a magnetic calibration mode, the information output by the optical fiber compass and the local magnetic field information of the current position of the ship are substituted into the magnetic compensation algorithm, and the true north course of the magnetic compass output after compensation is calculated.
Assuming that the angle data obtained by actually measuring the optical fiber compass at the Beijing time 00:01, the magnetic field data obtained by actually measuring the magnetic compass, and the local magnetic field data of the current position of the ship can be obtained according to the steps S11 and S12 (of course, the magnetic compensation algorithm can also be calculated by using the historical data of the optical fiber compass and the actual measurement of the magnetic compass in the history navigation of the ship and the local magnetic field data of the corresponding measurement position), the actual magnetic field data of the magnetic compass is corrected by using the angle output by the optical fiber compass at the Beijing time 00:02, then the true local magnetic field value at the moment is only calculated again according to the angle output by the optical fiber compass at the Beijing time 00:02, and then the current local magnetic field true value and the ferromagnetic interference coefficients A and B are substituted into the magnetic compensation calculation formula, so that the compensated magnetic field data output by the magnetic compass can be calculatedThen outputting the compensated magnetic field data from the magnetic compassSubstituting the formula in the step S13 to calculate the true north course of the magnetic compass output after compensation.
When the optical fiber compass and magnetic compass integrated equipment enters an optical fiber compass calibration mode, the measurement result of the optical fiber compass is corrected by utilizing the compensated true north heading outputted by the magnetic compass through a Kalman filtering algorithm.
The optical fiber compass is essentially a strapdown compass system, and iterative computation is performed through compass effect. Although the magnetic compass has large measuring noise, the magnetic compass has stable performance and is suitable for long-time work. And combining the characteristics of the optical fiber compass and the magnetic compass, constructing a kalman filter, and restraining the optical fiber compass by using the magnetic compass as an observed quantity.
Specifically, the specific steps of correcting the measurement result of the optical fiber compass by using the compensated true north heading outputted by the magnetic compass through the Kalman filtering algorithm are as follows:
carrying out disturbance analysis on the measurement result of the optical fiber compass, omitting the high-order term of the basic error quantity, and obtaining the linearized inertial navigation attitude, speed and position error equation of the optical fiber compass as follows:
in the formula, alpha and δv n、δpn represent three-dimensional posture, speed and position errors.
The other elements in M pv and M pp are zero, L is the local latitude, R M、RN is the mortise unitary radius and the meridian radius respectively, h is the motion height of the ship, and v E、vN is the east and north speeds of the ship respectively;
fiber optic compass and accelerometer drift errors can be modeled as:
constant zero offset epsilon b Can be expressed as:
first order Gaussian-Markov process ε r and Can be expressed as:
According to the inertial navigation attitude, speed and position error equation after linearization of the optical fiber compass and the drift error of the accelerometer, constructing and obtaining the state vector of the filter (namely selecting INS navigation parameter error and drift error of the inertial sensor as the state vector of the filter):
The system state equation of an inertial navigation system is expressed as:
Where the submatrix F 12～F33 is an expanded version of equation (7), and 0 represents a 3×3 zero matrix.
Wherein, I is a3 x 3 unit array, [ w gx wgy wgz wax way waz]T is the white noise of the optical fiber gyro compass and the accelerometer in the three directions of x, y and z, [ w rgx wrgy wrgz wrax wray wraz]T is the first-order Gaussian-Markov process noise of the optical fiber gyro compass and the accelerometer in the three directions of x, y and z.
Since the magnetic compass data as an observed quantity also contains errors, the observation equation of the magnetic compass is as follows, taking into account the noise of the magnetic compass:
Z(t)=H(t)x(t)+υ(t) (16)
H(t)=[01×2101×18]1×21 (17)
The observed quantity of the actual measurement of the magnetic compass is as follows:
Z(t)=ψINS-ψM (18)
Wherein, ψ M is the compensated true north heading outputted by the magnetic compass, and ψ INS is the heading value outputted by the optical fiber compass.
According to formulas (7) - (18), a kalman filter can be constructed, real-time estimation is carried out on the state variable x (t) based on a Kalman filtering algorithm, and open-loop correction is carried out on the measurement result of the optical fiber compass.
Fig. 2 shows a schematic diagram of magnetic compass error in the integrated calibration method of optical fiber compass and magnetic compass, wherein the X axis and the Y axis respectively represent the outputs of the right axis and the forward axis of the magnetic compass carrier. When the external magnetic interference does not exist and the XOY plane is parallel to the local horizontal plane, the magnetic compass rotates horizontally for one circle, the output of the magnetic field vectors in the two horizontal directions of the X axis and the Y axis is a circle with the center at the origin, as shown by a solid line A, the soft magnetic interference enables the output of the magnetic compass to be changed into an ellipse, the long axis of the ellipse forms a certain angle with the coordinate axis, as shown by a broken line B, and the hard magnetic interference enables the center of the output curve of the magnetic compass to deviate, as shown by a broken line C.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Claims (9)

1.一种光纤罗经和磁罗经一体化校准方法，其特征在于，具体包括以下步骤：1. A method for integrating optical fiber compass and magnetic compass calibration, characterized in that it specifically comprises the following steps: S1，根据复杂磁环境对磁罗经的影响和光纤罗经实际输出的角度数据构建磁补偿算法；S1, constructing a magnetic compensation algorithm based on the influence of complex magnetic environment on the magnetic compass and the angle data actually output by the fiber optic compass; S2，当光纤罗经和磁罗经一体化设备进入工作状态后，判断光纤罗经和磁罗经一体化设备的工作校准模式，所述工作校准模式包括磁校准模式和光纤罗经校准模式；S2, when the integrated fiber optic compass and magnetic compass device enters a working state, determining a working calibration mode of the integrated fiber optic compass and magnetic compass device, wherein the working calibration mode includes a magnetic calibration mode and a fiber optic compass calibration mode; 当光纤罗经和磁罗经一体化设备进入磁校准模式时，将光纤罗经当前输出的信息和船舶当前所处位置的当地磁场信息代入所述磁补偿算法，计算出磁罗经输出的经补偿后的真北航向；When the integrated fiber optic compass and magnetic compass device enters the magnetic calibration mode, the information currently output by the fiber optic compass and the local magnetic field information of the current position of the ship are substituted into the magnetic compensation algorithm to calculate the compensated true north heading output by the magnetic compass; 当光纤罗经和磁罗经一体化设备进入光纤罗经校准模式时，通过卡尔曼滤波算法利用磁罗经输出的经补偿后的真北航向对光纤罗经的测量结果进行修正。When the integrated fiber optic compass and magnetic compass device enters the fiber optic compass calibration mode, the measurement result of the fiber optic compass is corrected by using the compensated true north heading output by the magnetic compass through the Kalman filter algorithm. 2.根据权利要求1所述的光纤罗经和磁罗经一体化校准方法，其特征在于，步骤S1中根据复杂磁环境对磁罗经的影响和光纤罗经实际输出的角度数据构建磁补偿算法的具体步骤为：2. The integrated calibration method of the optical fiber compass and the magnetic compass according to claim 1 is characterized in that the specific steps of constructing the magnetic compensation algorithm according to the influence of the complex magnetic environment on the magnetic compass and the angle data actually output by the optical fiber compass in step S1 are: 根据光纤罗经实际输出的角度数据和当地磁场在东、北、天三个方向的投影计算出当地磁场真实值；The true value of the local magnetic field is calculated based on the angle data actually output by the fiber optic compass and the projection of the local magnetic field in the east, north and sky directions; 根据当地磁场真实值和磁罗经实际测量的磁场数据推导得到用以利用光纤罗经实际输出的角度数据对磁罗经测量的磁场数据进行补偿的磁补偿计算公式；According to the actual value of the local magnetic field and the magnetic field data actually measured by the magnetic compass, a magnetic compensation calculation formula is derived to compensate the magnetic field data measured by the magnetic compass using the angle data actually output by the optical fiber compass; 利用磁罗经输出的经补偿后的磁场数据和当地磁场的磁偏角，计算得到磁罗经的真北航向补偿计算公式。The compensation calculation formula of the true north heading of the magnetic compass is calculated by using the compensated magnetic field data output by the magnetic compass and the magnetic declination of the local magnetic field. 3.根据权利要求2所述的光纤罗经和磁罗经一体化校准方法，其特征在于，根据光纤罗经实际输出的角度数据和当地磁场在东、北、天三个方向的投影计算出当地磁场真实值的具体步骤为：3. The integrated calibration method of the optical fiber compass and the magnetic compass according to claim 2 is characterized in that the specific steps of calculating the true value of the local magnetic field according to the angle data actually output by the optical fiber compass and the projection of the local magnetic field in the east, north and sky directions are: 首先，根据光纤罗经实际输出的角度数据，获得导航坐标系XnYnZn到载体坐标系XbYbZb的坐标转换矩阵 First, according to the angle data actually output by the fiber optic compass , the coordinate transformation matrix from the navigation coordinate system XnYnZn to the carrier coordinate system XbYbZb is obtained . 然后，根据坐标转换矩阵和当地磁场在东、北、天三个方向的投影计算出当地磁场真实值。Then, according to the coordinate transformation matrix The true value of the local magnetic field is calculated by the projection of the local magnetic field in the east, north and sky directions. 4.根据权利要求3所述的光纤罗经和磁罗经一体化校准方法，其特征在于，所述坐标转换矩阵的计算公式为：4. The integrated calibration method of optical fiber compass and magnetic compass according to claim 3, characterized in that the coordinate transformation matrix The calculation formula is: 其中，ψ为光纤罗经实际输出的航向角，θ为光纤罗经实际输出的俯仰角，γ为光纤罗经实际输出的横滚角；Among them, ψ is the heading angle actually output by the fiber optic compass, θ is the pitch angle actually output by the fiber optic compass, and γ is the roll angle actually output by the fiber optic compass; 当地磁场真实值的计算公式为：The calculation formula for the true value of the local magnetic field is: 其中，[ME MN MU]T为当地磁场在东、北、天三个方向的投影。Among them, [M E M N M U ] T is the projection of the local magnetic field in the east, north and sky directions. 5.根据权利要求2所述的光纤罗经和磁罗经一体化校准方法，其特征在于，根据当地磁场真实值和磁罗经实际测量的磁场数据推导得到磁补偿计算公式的具体步骤为：5. The integrated calibration method of the optical fiber compass and the magnetic compass according to claim 2 is characterized in that the specific steps of deriving the magnetic compensation calculation formula according to the actual value of the local magnetic field and the magnetic field data actually measured by the magnetic compass are: 考虑复杂磁环境对磁罗经的影响，磁罗经实际输出的磁场数据可表示为：Considering the influence of complex magnetic environment on the magnetic compass, the magnetic field data actually output by the magnetic compass can be expressed as: 其中，[Mx My Mz]T为磁罗经实际输出的磁场强度在x、y、z三个方向上的投影，[Hx Hy Hz]T为当地磁场真实值，和B0分别表示软磁干扰与硬磁干扰对磁场的影响；Where [M x M y M z ] T is the projection of the magnetic field intensity actually output by the magnetic compass in the x, y, and z directions, and [H x H y H z ] T is the true value of the local magnetic field. and B 0 represent the effects of soft magnetic interference and hard magnetic interference on the magnetic field, respectively; 公式(3)可进一步表示为：Formula (3) can be further expressed as: 其中， in, 将当地磁场真实值和磁罗经实际测量的磁场数据代入公式(4)得到铁磁干扰系数A和B的关系式；Substituting the actual value of the local magnetic field and the magnetic field data actually measured by the magnetic compass into formula (4) we can obtain the relationship between the ferromagnetic interference coefficients A and B; 对铁磁干扰系数A和B的关系式进行最小二乘拟合，计算求得铁磁干扰系数A和B；The relationship between the ferromagnetic interference coefficients A and B is fitted by least squares, and the ferromagnetic interference coefficients A and B are calculated; 将铁磁干扰系数A和B代入公式(4)得到用以利用光纤罗经输出的角度对磁罗经实际测量的磁场数据进行补偿的磁补偿计算公式。Substituting the ferromagnetic interference coefficients A and B into formula (4) yields a magnetic compensation calculation formula for compensating the magnetic field data actually measured by the magnetic compass using the angle output by the fiber optic compass. 6.根据权利要求2所述的光纤罗经和磁罗经一体化校准方法，其特征在于，利用磁罗经输出的经补偿后的磁场数据和当地磁场的磁偏角，得到磁罗经的真北航向补偿计算公式的具体步骤为：6. The integrated calibration method of the optical fiber compass and the magnetic compass according to claim 2 is characterized in that the specific steps of obtaining the true north heading compensation calculation formula of the magnetic compass by using the compensated magnetic field data output by the magnetic compass and the magnetic declination of the local magnetic field are: 根据磁罗经的输出经补偿后在x、y方向上的投影和解算磁航向角；Projection of the magnetic compass output in the x and y directions after compensation and Calculate the magnetic heading angle; 根据磁航向角和当地磁场的磁偏角，得到磁罗经的真北航向补偿计算公式。According to the magnetic heading angle and the magnetic declination of the local magnetic field, the true north heading compensation calculation formula of the magnetic compass is obtained. 7.根据权利要求6所述的光纤罗经和磁罗经一体化校准方法，其特征在于，磁航向角的计算公式为：7. The integrated calibration method of optical fiber compass and magnetic compass according to claim 6, characterized in that the calculation formula of magnetic heading angle is: 其中，为磁罗经的输出经补偿后在x、y方向上的投影；in, is the projection of the output of the magnetic compass in the x and y directions after compensation; 磁罗经的真北航向补偿计算公式为：The calculation formula for the true north heading compensation of the magnetic compass is: 其中，ψM为磁罗经输出的经补偿后的真北航向，ψM0为本地磁偏角，本地磁偏角根据光纤罗经输出的经纬度进行查表得到。Among them, ψ M is the compensated true north heading output by the magnetic compass, and ψ M0 is the local magnetic declination, which is obtained by looking up the table according to the longitude and latitude output by the fiber optic compass. 8.根据权利要求1所述的光纤罗经和磁罗经一体化校准方法，其特征在于，步骤S2中，通过卡尔曼滤波算法利用磁罗经输出的经补偿后的真北航向对光纤罗经的测量结果进行修正的具体步骤为：8. The integrated calibration method of the optical fiber compass and the magnetic compass according to claim 1 is characterized in that, in step S2, the specific steps of correcting the measurement result of the optical fiber compass by using the compensated true north heading output by the magnetic compass through the Kalman filter algorithm are: 选取INS导航参数误差和惯性传感器的漂移误差作为滤波器的状态向量，可得Selecting the INS navigation parameter error and the drift error of the inertial sensor as the state vector of the filter, we can get 考虑磁罗经的噪声，磁罗经的观测方程为：Considering the noise of the magnetic compass, the observation equation of the magnetic compass is: Z(t)＝H(t)x(t)+υ(t) (8)Z(t)＝H(t)x(t)+υ(t) (8) H(t)＝[01×2101×18]1×21 (9)H(t)＝[0 1×2 10 1×18 ] 1×21 (9) 磁罗经实际测量的观测量为：The observed quantity actually measured by the magnetic compass is: Z(t)＝ψINS-ψM(10)Z(t)＝ ψINS - ψM (10) 其中，ψM为磁罗经输出的经补偿后的真北航向，ψINS为光纤罗经输出的航向值；Where, ψ M is the compensated true north heading output by the magnetic compass, and ψ INS is the heading value output by the fiber optic compass; 根据公式(7)-(10)，基于卡尔曼滤波算法对状态变量x(t)进行实时估计，对光纤罗经的测量结果进行开环修正。According to formulas (7)-(10), the state variable x(t) is estimated in real time based on the Kalman filter algorithm, and the measurement results of the fiber optic compass are corrected in an open loop. 9.根据权利要求8所述的光纤罗经和磁罗经一体化校准方法，其特征在于，滤波器的状态向量构件过程为：9. The integrated calibration method of optical fiber compass and magnetic compass according to claim 8, characterized in that the state vector component process of the filter is: 对光纤罗经的测量结果进行扰动分析，省略基本误差量的高阶项，得到其线性化后的惯导姿态、速度、位置误差方程为：The disturbance analysis of the measurement results of the fiber optic compass is carried out, and the high-order terms of the basic error are omitted. The linearized inertial navigation attitude, velocity, and position error equations are obtained as follows: 式中，α、δvn、δpn表示三维姿态、速度、位置误差， Mpv与Mpp中的其余元素均为零，L为当地纬度，RM、RN分别为卯酉半径和子午半径，h为船舶的运动高度，vE、vN分别为船舶的东向和北向速度；Where α, δv n , δp n represent the three-dimensional attitude, velocity, and position errors. The rest of the elements in M pv and M pp are all zero, L is the local latitude, R M and R N are the meridian radius and meridian radius respectively, h is the ship's movement altitude, v E and v N are the ship's eastward and northward speeds respectively; 光纤罗经和加速度计漂移误差可建模为：The drift error of fiber optic compass and accelerometer can be modeled as: 常值零偏εb与可表示为：The constant zero bias ε b and It can be expressed as: 一阶高斯-马尔可夫过程εr与可表示为：The first-order Gauss-Markov process ε r is related to It can be expressed as: 根据光纤罗经线性化后的惯导姿态、速度、位置误差方程以及光纤罗经和加速度计的漂移误差构建得到滤波器的状态向量：The state vector of the filter is constructed based on the inertial navigation attitude, velocity, and position error equations after the linearization of the fiber optic compass and the drift errors of the fiber optic compass and accelerometer: 惯性导航系统的系统状态方程为：The system state equation of the inertial navigation system is: 式中，子矩阵F12～F33为公式(11)的展开形式，0表示3×3的零矩阵。Wherein, sub-matrices F 12 -F 33 are the expanded forms of formula (11), and 0 represents a 3×3 zero matrix. 其中，I为3×3单位阵，[wgx wgy wgz wax way waz]T为x、y、z三方向的光纤陀螺罗经和加速度计白噪声，[wrgx wrgy wrgz wrax wray wraz]T为x、y、z三方向的光纤陀螺罗经和加速度计一阶高斯-马尔可夫过程噪声。Wherein, I is a 3×3 unit matrix, [w gx w gy w gz w ax w ay w az ] T is the white noise of the fiber optic gyro compass and accelerometer in the x, y, and z directions, and [w rgx w rgy w rgz w rax w ray w raz ] T is the first-order Gauss-Markov process noise of the fiber optic gyro compass and accelerometer in the x, y, and z directions.
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