Research On Error Compensation And Temperature Compensation Technology Of Geomagnetic Orientation Platform

In the wake of developments in science and technology,the types of navigation technologies continue to be enriched,and their applications in various fields have become more extensive.Geomagnetic orientation has also attracted scholars' attention because of its reliability and concealment.However,the accelerometer,gyroscope,and geomagnetic sensor of the geomagnetic orientation platform will be affected,which reduces the accuracy of data collection.In view of the above problems,this subject has designed the error compensation algorithm of each sensor,the temperature compensation algorithm of the geomagnetic sensor and the attitude calculation algorithm.First,analyze the errors of accelerometers,gyroscopes,and geomagnetic sensors,use zero offset compensation,IIR filters,and low-pass filters to reduce noise in the inertial measurement unit,use Hilbert yellow transformation,and ellipsoid fitting The algorithm compensates the magnetic interference of the geomagnetic sensor,which improves the accuracy of sensor data collection.Then,an attitude calculation algorithm based on Mahony complementary filter and extended Kalman filter is designed.The northeast sky coordinate system is established,and the quaternion method is used to avoid the gimbal lock.The output quaternion value of the Mahony complementary filter is used as the measurement value of the extended Kalman filter,and the attitude angle is finally calculated.Then a temperature compensation algorithm is designed based on least squares support vector machine and particle swarm optimization algorithm.The training set and the test set was collected.The temperature compensation algorithm uses the training set data to fit the temperature curve,and uses the test set data for testing.The test curve fits well,and the mean square is compensated.The root error is reduced by 93.62%.Finally,a hardware test platform was built to test the error compensation algorithm and attitude calculation algorithm.After testing,after error compensation,the root mean square error of angular velocity is reduced by 60.31%,and the root mean square error of acceleration is reduced by 69.09%.After algorithm compensation,the data of the geomagnetic sensor changes from a distorted ellipsoid to a regular sphere,the deviation of the center of the sphere is reduced by 80.42%,and the root mean square error of the total magnetic field intensity Decrease by 86.01%.For the attitude angle output by the designed attitude calculation algorithm,the fluctuation of static characteristics is less than0.1°,and the error of dynamic characteristics is less than 0.5°.