CN103308039B - A kind of Digital Magnetic Compass and compensation for calibrating errors method, system - Google Patents
A kind of Digital Magnetic Compass and compensation for calibrating errors method, system Download PDFInfo
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Abstract
The invention belongs to Digital Magnetic Compass alignment technique field, provide a kind of Digital Magnetic Compass and compensation for calibrating errors method, the system with temperature compensation function.The method and system are after collection 3 d pose data, utilize the current magnetic field strength signal in 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, carry out accounting temperature penalty coefficient, and then calculate position angle.Because the temperature compensation coefficient calculated not is certain value, but change along with the sensor circuit parameter difference of distinct device, thus eliminate the impact brought due to homogeneity of product difference problem in existing temperature compensation, accuracy of detection is higher.
Description
Technical field
The invention belongs to Digital Magnetic Compass alignment technique field, particularly relate to a kind of Digital Magnetic Compass and compensation for calibrating errors method, the system with temperature compensation function.
Background technology
In modern navigation system, Digital Magnetic Compass is generally used to provide auxiliary course information.As Fig. 1 shows the typical structure of the Digital Magnetic Compass based on magnetoresistive transducer.Its principle of work is: Gravity accelerometer detects angle of pitch signal and the roll angle signal of Digital Magnetic Compass; Single shaft magnetoresistive transducer detects the magnetic field intensity signal of Z-direction; Diaxon magnetoresistive transducer detects the magnetic field intensity signal of X-direction and Y-direction; The magnetic field intensity signal of signal amplification circuit to X-direction and Y-direction carries out amplification process; Microprocessor, according to the magnetic field intensity signal of the magnetic field intensity signal of angle of pitch signal, roll angle signal, Z-direction, X-direction and Y-direction, calculates present orientation angle; Set/reset circuit is recovered by the strong recovery magnetic field of transient state or is kept sensor characteristic.
According to the difference of the equipment that Digital Magnetic Compass is applied, different to the requirement of Digital Magnetic Compass precision, such as, mobile phone is not high to the accuracy requirement of Digital Magnetic Compass, and the vehicles such as automobile and steamer then require higher to the precision of Digital Magnetic Compass yet.And affect the many factors of Digital Magnetic Compass precision, comprise the resolution of sensor in Digital Magnetic Compass, environment temperature, compass inclination, Hard Magnetic interference etc., particularly Hard Magnetic interference is larger on the impact of Digital Magnetic Compass precision.
In order to ensure the accuracy of detection of Digital Magnetic Compass, in prior art, Hard Magnetic calibration need be carried out before Digital Magnetic Compass uses.The conventional method of Hard Magnetic calibration is: rotated a circle by Digital Magnetic Compass, gather the maximum magnetic field strength of X-axis and minimum-B configuration intensity, the maximum magnetic field strength of Y-axis and minimum-B configuration intensity, and calculate the penalty coefficient of X-direction and the Hard Magnetic calibration factor of Y direction accordingly; Afterwards, in the use procedure of Digital Magnetic Compass, utilize penalty coefficient and the actual magnetic field intensity detected, calculate position angle.
This kind of Hard Magnetic calibration steps carries out at normal temperatures, does not consider the impact of temperature on Digital Magnetic Compass sensitivity.But in practice, the sensitivity of the magnetoresistive transducer in Digital Magnetic Compass is comparatively large by the impact of environment temperature, and its variation relation as shown in Figure 2, exists linear relationship between environment temperature and the sensitivity of Digital Magnetic Compass.Visible, environment temperature is different, and the Hard Magnetic calibration factor of Digital Magnetic Compass is also different, if still adopt the Hard Magnetic calibration factor that conventional method calculates, the azimuthal error calculated will be very large.
For this reason, prior art proposes a kind of calibration steps with temperature compensation, and the method the Hard Magnetic calibration factor obtained under normal temperature is multiplied by a temperature compensation coefficient, computer azimuth angle more afterwards, the impact brought with compensation temperature.But due to the consistance difference problem of product, the temperature compensation coefficient of each Digital Magnetic Compass may not be all identical, and according to identical temperature compensation coefficient, the precision of Digital Magnetic Compass cannot be guaranteed.
Summary of the invention
The object of the embodiment of the present invention is a kind of compensation for calibrating errors method providing Digital Magnetic Compass, be intended to solve the existing calibration steps with temperature compensation and adopt same temperature compensation coefficient, and do not consider the homogeneity of product difference problem of Digital Magnetic Compass, make the problem that the accuracy of detection of Digital Magnetic Compass is lower.
The embodiment of the present invention is achieved in that a kind of compensation for calibrating errors method of Digital Magnetic Compass, said method comprising the steps of:
According to the calibration command of user's input, control sensor and gather 3 d pose data;
Receive and process the described 3 d pose data of amplifying through signal amplification circuit, when utilizing the current magnetic field strength signal in described 3 d pose data and calibrate in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient;
Utilize described temperature compensation coefficient and described 3 d pose data, calculate current position angle.
Another object of the embodiment of the present invention is the compensation for calibrating errors system providing a kind of Digital Magnetic Compass, and described system comprises:
Acquisition control module, for the calibration command inputted according to user, controls sensor and gathers 3 d pose data;
First computing module, for receiving and processing the described 3 d pose data of amplifying through signal amplification circuit, when utilizing the current magnetic field strength signal in described 3 d pose data and calibrate in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient;
Second computing module, for utilizing described temperature compensation coefficient and described 3 d pose data, calculates current position angle.
Another object of the embodiment of the present invention is to provide a kind of Digital Magnetic Compass, comprise Gravity accelerometer, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit, it is characterized in that, described microprocessor comprises the compensation for calibrating errors system of Digital Magnetic Compass as above.
The compensation for calibrating errors method and system of Digital Magnetic Compass provided by the invention are after collection 3 d pose data, utilize the current magnetic field strength signal in 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, carry out accounting temperature penalty coefficient, and then calculate position angle.Because the temperature compensation coefficient calculated not is certain value, but change along with the sensor circuit parameter difference of distinct device, thus eliminate the impact brought due to homogeneity of product difference problem in existing temperature compensation, accuracy of detection is higher.
Accompanying drawing explanation
Fig. 1 is in prior art, based on the exemplary block diagram of the Digital Magnetic Compass of magnetoresistive transducer;
Fig. 2 is the graph of a relation between the sensitivity of Digital Magnetic Compass and environment temperature;
Fig. 3 is the process flow diagram of the compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the present invention provides;
Fig. 4 is the output variation with temperature graph of a relation of magnetoresistive transducer;
Fig. 5 is the structural drawing of the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the present invention provides;
Fig. 6 is in the embodiment of the present invention, the circuit diagram of set/reset circuit.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
For prior art Problems existing, the compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the present invention proposes is after collection 3 d pose data, utilize the current magnetic field strength signal in 3 d pose data, accounting temperature penalty coefficient, and then calculate position angle.
Fig. 3 shows the flow process of the compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the present invention provides, and comprising:
Step S11: according to the calibration command of user's input, controls sensor and gathers 3 d pose data.
In the embodiment of the present invention, sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and Gravity accelerometer; Correspondingly, 3 d pose data comprise diaxon magnetoresistive transducer and gather the current magnetic field strength signal X of X-axis and the current magnetic field strength signal Y of Y-axis, single shaft magnetoresistive transducer gathers the current magnetic field strength signal Z of Z axis, and Gravity accelerometer gathers angle of pitch α and roll angle β.Afterwards, amplification process is carried out when magnetic field intensity signal X, current magnetic field strength signal Y, current magnetic field strength signal Z, angle of pitch α and roll angle β enter into signal amplification circuit.
Step S12: receive and process the 3 d pose data of amplifying through signal amplification circuit, when utilizing the current magnetic field strength signal in 3 d pose data and calibrate in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient.
In the embodiment of the present invention, as shown in Figure 4, during normal temperature calibration, rotated a circle by Digital Magnetic Compass, the X-axis obtained, the Magnetic field strength curve of Y-axis are roughly with (x
0, y
0) be the center of circle, radius is R
0circle; When the temperature is changed, Magnetic field strength curve becomes the center of circle for (Kx
0, Ky
0), radius is KR
0circle, K is temperature compensation coefficient.Then step S12 comprises further:
Step S121: calculate the maximum magnetic field strength of X-axis and the first difference of minimum-B configuration intensity;
Step S122: calculate the maximum magnetic field strength of Y-axis and two differences of minimum-B configuration intensity;
Step S123: the ratio calculating the first difference and the second difference, obtains Hard Magnetic interference scaling factor;
Step S124: calculate the maximum magnetic field strength of X-axis and the mean value of minimum-B configuration intensity, and calculate the maximum magnetic field strength of Y-axis and the mean value of minimum-B configuration intensity and Hard Magnetic and disturb scaling factor long-pending, obtain the central coordinate of circle of Magnetic field strength curve during normal temperature calibration;
Step S125: calculate 1/2 of the first difference, obtains the radius of Magnetic field strength curve during normal temperature calibration;
Step S126: using the current magnetic field intensity level of the current magnetic field strength signal X of X-axis as X-axis, disturb the product of scaling factor as the current magnetic field intensity level of Y-axis the current magnetic field strength signal Y of Y-axis and Hard Magnetic;
Step S127: the governing equation between Magnetic field strength curve when Magnetic field strength curve when utilizing normal temperature to calibrate and temperature variation, solves and obtain temperature compensation coefficient.
Further, the embodiment of the present invention is before step S11, further comprising the steps of: when normal temperature is calibrated, and gathers and the maximum magnetic field strength of the maximum magnetic field strength of storing X axle and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity.Specifically, when supposing that normal temperature is calibrated, Digital Magnetic Compass is rotated a circle, the maximum magnetic field strength of the X-axis obtained is Xmax, minimum-B configuration intensity is Xmin, the maximum magnetic field strength of the Y-axis obtained is Ymax, minimum-B configuration intensity is Ymin, and Hard Magnetic interference scaling factor is K
0, the first difference is Xpp, and the second difference is Ypp, and the current magnetic field intensity level of X-axis is X', and the current magnetic field intensity level of Y-axis is Y', then step S121 to step S127 can be expressed as:
Xpp=Xmax-Xmin （1）
Ypp=Ymax-Ymin （2）
K
0=Xpp/Ypp （3）
X
0=(Xmin+Xmax)/2 （4）
Y
0=K
0(Ymin+Ymax)/2 （5）
R
0=Xpp/2 （6）
X'=X （7）
Y'=K
0Y （8）
(X'-KX
0)
2+(Y'-KY
0)
2=(KR
0)
2（9）
Step S13: utilize temperature compensation coefficient and 3 d pose data, calculate current position angle.
In the embodiment of the present invention, utilize temperature compensation coefficient K, current magnetic field strength signal, angle of pitch α, roll angle β, and during normal temperature calibration, the maximum magnetic field strength Ymax of the maximum magnetic field strength Xmax of X-axis and minimum-B configuration intensity Xmin, Y-axis and minimum-B configuration intensity Ymin, calculate current position angle Ψ.Specifically, step S13 can comprise:
Step S131: 3 d pose data are converted to two-dimentional sensing data, are expressed as:
Hgx=Hxcosα+Hysinβsinα-Hzcosβsinα （10）
Hgy=Hycosβ+Hzsinβ （11）
Then two-dimentional X-axis sensing data Hgx and two-dimentional Y-axis sensing data Hgy forms two-dimentional sensing data.
Step S132: calculate X-axis scaling factor Hxsf and Y-axis scaling factor Hysf, be expressed as:
Hxsf=max[1,(KYmax-KYmin)/(KXmax-KXmin)] （12）
Hysf=max[1,(KXmax-KXmin)/(KYmax-KYmin)] （13）
Step S133: utilize X-axis scaling factor Hxsf to calculate X-axis zero offset value Hxoff, utilizes Y-axis scaling factor Hysf to calculate Y-axis zero offset value Hyoff, is expressed as:
Hxoff=((KXmax-KXmin)/2-KXmax)*Hxsf （14）
Hyoff=((KYmax-KYmin)/2-KYmax)*Hysf （15）
Step S134: utilize X-axis zero offset value Hxoff, Y-axis zero offset value Hyoff, two-dimentional X-axis sensing data Hgx, two-dimentional Y-axis sensing data Hgy, computer azimuth angle Ψ, is expressed as:
Ψ=arctan((Hgy+Hyoff)/Hgx+Hxoff)) （16）
The compensation for calibrating errors method of the Digital Magnetic Compass that the embodiment of the present invention provides is after collection 3 d pose data, utilize the current magnetic field strength signal in 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, carry out accounting temperature penalty coefficient, and then calculate position angle.Because the temperature compensation coefficient calculated not is certain value, but change along with the sensor circuit parameter difference of distinct device, thus eliminate the impact brought due to homogeneity of product difference problem in existing temperature compensation, accuracy of detection is higher.
The embodiment of the present invention additionally provides a kind of compensation for calibrating errors system of Digital Magnetic Compass, and Fig. 5 shows the structure of the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the present invention provides, and for convenience of explanation, illustrate only the part relevant to the embodiment of the present invention.
Specifically, the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the present invention provides comprises: acquisition control module 11, for the calibration command inputted according to user, controls sensor and gathers 3 d pose data; First computing module 12, for receiving and processing the 3 d pose data of amplifying through signal amplification circuit, when utilizing the current magnetic field strength signal in 3 d pose data and calibrate in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient; Second computing module 13, for utilizing temperature compensation coefficient and 3 d pose data, calculates current position angle.
In the embodiment of the present invention, sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and Gravity accelerometer; Correspondingly, 3 d pose data comprise diaxon magnetoresistive transducer and gather the current magnetic field strength signal X of X-axis and the current magnetic field strength signal Y of Y-axis, single shaft magnetoresistive transducer gathers the current magnetic field strength signal Z of Z axis, and Gravity accelerometer gathers angle of pitch α and roll angle β.Afterwards, amplification process is carried out when magnetic field intensity signal X, current magnetic field strength signal Y, current magnetic field strength signal Z, angle of pitch α and roll angle β enter into signal amplification circuit.
Further, the compensation for calibrating errors system of the Digital Magnetic Compass that the embodiment of the present invention provides can also comprise: normal temperature calibration module (not shown), for when normal temperature is calibrated, gather and the maximum magnetic field strength of the maximum magnetic field strength of storing X axle and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity.
Further, the first computing module 12 can comprise: the first calculating sub module, for the first difference of the maximum magnetic field strength and minimum-B configuration intensity that calculate X-axis; Second calculating sub module, for two differences of the maximum magnetic field strength and minimum-B configuration intensity that calculate Y-axis; 3rd calculating sub module, for calculating the ratio of the first difference and the second difference, obtains Hard Magnetic interference scaling factor; 4th calculating sub module, for the mean value of the maximum magnetic field strength and minimum-B configuration intensity that calculate X-axis, and calculate the maximum magnetic field strength of Y-axis and the mean value of minimum-B configuration intensity and Hard Magnetic and disturb scaling factor long-pending, obtain the central coordinate of circle of Magnetic field strength curve during normal temperature calibration; 5th calculating sub module, for calculating 1/2 of the first difference, obtains the radius of Magnetic field strength curve during normal temperature calibration; 6th calculating sub module, for using the current magnetic field intensity level of the current magnetic field strength signal X of X-axis as X-axis, disturbs the product of scaling factor as the current magnetic field intensity level of Y-axis the current magnetic field strength signal Y of Y-axis and Hard Magnetic; 7th calculating sub module, the governing equation between Magnetic field strength curve when Magnetic field strength curve when calibrating for utilizing normal temperature and temperature variation, solves and obtains temperature compensation coefficient, and this governing equation is expressed as: (X'-KX
0)
2+ (Y'-KY
0)
2=(KR
0)
2.
Further, the second computing module 13 can comprise: transform subblock, for according to formula (10) and formula (11), 3 d pose data is converted to two-dimentional sensing data; 8th calculating sub module, for according to formula (12) and formula (13), calculates X-axis scaling factor and Y-axis scaling factor; 9th calculating sub module, for according to formula (14) and formula (15), utilizes X-axis scaling factor to calculate X-axis zero offset value, utilizes Y-axis scaling factor to calculate Y-axis zero offset value; Tenth calculating sub module, for according to formula (16), utilizes X-axis zero offset value, Y-axis zero offset value, two-dimentional X-axis sensing data, two-dimentional Y-axis sensing data, computer azimuth angle.
The embodiment of the present invention additionally provides a kind of Digital Magnetic Compass, comprises Gravity accelerometer, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit.Wherein, microprocessor also comprises the compensation for calibrating errors system of Digital Magnetic Compass as above, is not repeated herein.
Wherein, set/reset circuit is in order to eliminate the strong magnetic interference occurred instantaneously.Its principle is: the chip of magnetoresistive transducer has two resistances be the set/reset current strap of 7.7 ohm, applying to reach 2 microsecond strength of current to permalloy is the pulse current of 0.5 ~ 4A, is recovered by the strong recovery magnetic field of transient state or is kept sensor characteristic.Once sensor is set or resets, low noise and highly sensitive magnetic-field measurement can be realized.Circulate in normal work period, to improve the linearity, reduce impact and the temperature impact of Z-axis.In real work, can carry out reset operation after first set to the chip of magnetoresistive transducer, namely the half of set voltage and resetting voltage difference is field strength values, and this circuit can eliminate the biased and temperature impact that electron device and electric bridge temperature drift cause.As Fig. 6 shows in the embodiment of the present invention, the circuit structure of set/reset circuit, this circuit is based on IRF7105 chip U1 and peripheral circuit thereof.
The compensation for calibrating errors method and system of the Digital Magnetic Compass that the embodiment of the present invention provides are after collection 3 d pose data, utilize the current magnetic field strength signal in 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, carry out accounting temperature penalty coefficient, and then calculate position angle.Because the temperature compensation coefficient calculated not is certain value, but change along with the sensor circuit parameter difference of distinct device, thus eliminate the impact brought due to homogeneity of product difference problem in existing temperature compensation, accuracy of detection is higher.
One of ordinary skill in the art will appreciate that all or part of step realized in above-described embodiment method is that the hardware that can control to be correlated with by program completes, described program can be stored in a computer read/write memory medium, described storage medium, as ROM/RAM, disk, CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. a compensation for calibrating errors method for Digital Magnetic Compass, is characterized in that, said method comprising the steps of:
According to the calibration command of user's input, control sensor and gather 3 d pose data;
Receive and process the described 3 d pose data of amplifying through signal amplification circuit, utilize the current magnetic field strength signal in described 3 d pose data, and when calibrating in conjunction with normal temperature, the maximum magnetic field strength of X-axis and minimum-B configuration intensity, the maximum magnetic field strength of Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient;
Utilize described temperature compensation coefficient and described 3 d pose data, calculate current position angle;
Wherein, the step of described accounting temperature penalty coefficient comprises:
Calculate the maximum magnetic field strength of described X-axis and the first difference of minimum-B configuration intensity;
Calculate the maximum magnetic field strength of described Y-axis and the second difference of minimum-B configuration intensity;
Calculate the ratio of described first difference and described second difference, obtain Hard Magnetic interference scaling factor;
Calculate the maximum magnetic field strength of described X-axis and the mean value of minimum-B configuration intensity, and calculate the maximum magnetic field strength of described Y-axis and the mean value of minimum-B configuration intensity and described Hard Magnetic and disturb scaling factor long-pending, obtain the central coordinate of circle of Magnetic field strength curve during normal temperature calibration;
Calculate 1/2 of described first difference, obtain the radius of Magnetic field strength curve during the calibration of described normal temperature;
Using the current magnetic field intensity level of the current magnetic field strength signal of described X-axis as X-axis, disturb the product of scaling factor as the current magnetic field intensity level of Y-axis the current magnetic field strength signal of described Y-axis and described Hard Magnetic;
Governing equation between Magnetic field strength curve when Magnetic field strength curve when utilizing described normal temperature to calibrate and temperature variation, solves and obtains temperature compensation coefficient.
2. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 1, it is characterized in that, described sensor comprises diaxon magnetoresistive transducer, single shaft magnetoresistive transducer and Gravity accelerometer; Described 3 d pose data comprise the current magnetic field strength signal of X-axis and the current magnetic field strength signal of Y-axis of the collection of described diaxon magnetoresistive transducer, the current magnetic field strength signal of the Z axis that described single shaft magnetoresistive transducer gathers, and the angle of pitch that gathers of described Gravity accelerometer and roll angle.
3. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 1, it is characterized in that, described governing equation is expressed as:
(X'-KX
0)
2+(Y'-KY
0)
2＝(KR
0)
2
Wherein, X' is the current magnetic field intensity level of X-axis, and Y' is the current magnetic field intensity level of Y-axis, and K is temperature compensation coefficient, X
0the center of circle horizontal ordinate of Magnetic field strength curve during the calibration of described normal temperature, Y
0the center of circle ordinate of Magnetic field strength curve during the calibration of described normal temperature, R
0it is the radius of Magnetic field strength curve during the calibration of described normal temperature.
4. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 1, is characterized in that, describedly utilizes temperature compensation coefficient and 3 d pose data, calculates current azimuthal step and comprises:
Described 3 d pose data are converted to two-dimentional sensing data, and described two-dimentional sensing data comprises two-dimentional X-axis sensing data and two-dimentional Y-axis sensing data;
Calculate X-axis scaling factor and Y-axis scaling factor;
Utilize described X-axis scaling factor to calculate X-axis zero offset value, utilize described Y-axis scaling factor to calculate Y-axis zero offset value;
Utilize described X-axis zero offset value, described Y-axis zero offset value, described two-dimentional X-axis sensing data, described two-dimentional Y-axis sensing data, computer azimuth angle.
5. the compensation for calibrating errors method of Digital Magnetic Compass as claimed in claim 4, it is characterized in that, the step of described calculating X-axis scaling factor and Y-axis scaling factor is expressed as:
Hxsf＝max[1,(KYmax-KYmin)/(KXmax-KXmin)]
Hysf＝max[1,(KXmax-KXmin)/(KYmax-KYmin)]
Wherein, Hxsf is X-axis scaling factor, and Hysf is Y-axis scaling factor, K is temperature compensation coefficient, and Ymax is the maximum magnetic field strength of described Y-axis, and Ymin is the minimum-B configuration intensity of described Y-axis, Xmax is the maximum magnetic field strength of described X-axis, and Xmin is the minimum-B configuration intensity of described X-axis;
Describedly utilize described X-axis scaling factor to calculate X-axis zero offset value, utilize described Y-axis scaling factor to calculate Y-axis zero offset value and be expressed as:
Hxoff＝((KXmax-KXmin)/2-KXmax)*Hxsf
Hyoff＝((KYmax-KYmin)/2-KYmax)*Hysf
Wherein, Hxoff is X-axis zero offset value, and Hyoff is Y-axis zero offset value.
6. the compensation for calibrating errors method of the Digital Magnetic Compass as described in any one of claim 1 to 5, is characterized in that, in the described calibration command according to user's input, before controlling the step of sensor collection 3 d pose data, described method also comprises:
When the calibration of described normal temperature, gather and store the maximum magnetic field strength of described X-axis and minimum-B configuration intensity, the maximum magnetic field strength of Y-axis and minimum-B configuration intensity.
7. a compensation for calibrating errors system for Digital Magnetic Compass, is characterized in that, described system comprises:
Acquisition control module, for the calibration command inputted according to user, controls sensor and gathers 3 d pose data;
First computing module, for receiving and processing the described 3 d pose data of amplifying through signal amplification circuit, when utilizing the current magnetic field strength signal in described 3 d pose data and calibrate in conjunction with normal temperature, the maximum magnetic field strength of the maximum magnetic field strength of X-axis and minimum-B configuration intensity, Y-axis and minimum-B configuration intensity, accounting temperature penalty coefficient;
Second computing module, for utilizing described temperature compensation coefficient and described 3 d pose data, calculates current position angle;
Described system also comprises:
Normal temperature calibration module, for when the calibration of described normal temperature, gathers and stores the maximum magnetic field strength of described X-axis and minimum-B configuration intensity, the maximum magnetic field strength of Y-axis and minimum-B configuration intensity;
Described first computing module comprises:
First calculating sub module, for the first difference of the maximum magnetic field strength and minimum-B configuration intensity that calculate described X-axis;
Second calculating sub module, for the second difference of the maximum magnetic field strength and minimum-B configuration intensity that calculate described Y-axis;
3rd calculating sub module, for calculating the ratio of described first difference and described second difference, obtains Hard Magnetic interference scaling factor;
4th calculating sub module, for the mean value of the maximum magnetic field strength and minimum-B configuration intensity that calculate described X-axis, and calculate the maximum magnetic field strength of described Y-axis and the mean value of minimum-B configuration intensity and described Hard Magnetic and disturb scaling factor long-pending, obtain the central coordinate of circle of Magnetic field strength curve during normal temperature calibration;
5th calculating sub module, for calculating 1/2 of described first difference, obtains the radius of Magnetic field strength curve during normal temperature calibration;
6th calculating sub module, for using the current magnetic field intensity level of the current magnetic field strength signal of X-axis in described 3 d pose data as X-axis, disturb the product of scaling factor as the current magnetic field intensity level of Y-axis the current magnetic field strength signal of Y-axis in described 3 d pose data and described Hard Magnetic;
7th calculating sub module, the governing equation between Magnetic field strength curve when Magnetic field strength curve when calibrating for utilizing described normal temperature and temperature variation, solves and obtains temperature compensation coefficient.
8. the compensation for calibrating errors system of Digital Magnetic Compass as claimed in claim 7, it is characterized in that, described second computing module comprises:
Transform subblock, for described 3 d pose data are converted to two-dimentional sensing data, described two-dimentional sensing data comprises two-dimentional X-axis sensing data and two-dimentional Y-axis sensing data;
8th calculating sub module, for calculating X-axis scaling factor and Y-axis scaling factor;
9th calculating sub module, calculates X-axis zero offset value for the described X-axis scaling factor that utilizes, utilizes described Y-axis scaling factor to calculate Y-axis zero offset value;
Tenth calculating sub module, utilizes X-axis zero offset value, described Y-axis zero offset value, described two-dimentional X-axis sensing data, described two-dimentional Y-axis sensing data, computer azimuth angle for described.
9. a Digital Magnetic Compass, comprise Gravity accelerometer, single shaft magnetoresistive transducer, diaxon magnetoresistive transducer, signal amplification circuit, microprocessor and set/reset circuit, it is characterized in that, described microprocessor comprises the compensation for calibrating errors system of Digital Magnetic Compass as claimed in claim 7 or 8.
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