基于磁异常反演的磁航向误差实时补偿方法

三轴磁力仪是一种常用的磁场测量工具，在地磁导航、海洋磁测、地磁勘探等领域应用较为广泛。作为一种磁场矢量测量工具，三轴磁力仪的磁测误差主要来源于三轴非正交、敏感轴灵敏度不一致及零偏误差等方面，磁力仪的标定优劣影响磁力仪的测量性能。为解决三轴磁力仪的标定问题，建立了磁力仪误差补偿模型，提出了基于正弦拟合的三轴磁力仪标定方法。将磁力仪沿平面旋转时的三轴输出数据拟合成正弦曲线，利用正弦曲线的幅值、初相角和平移量等信息计算出磁力仪的标定参数。仿真结果表明：该方法无需非线性优化过程即可实现标定参数的求解，得到的标定参数与设定值吻合度高；磁测噪声对三轴灵敏度系数及非正交角的计算结果影响较小。

Real-Time Compensation Method of Magnetic Heading Perturbations Based on Magnetic Anomaly Inversion

Three-axis magnetometer is a measuring tool commonly used for magnetic field measurement, which is widely used in geomagnetic navigation, ocean magnetic survey, geomagnetic exploration and other fields. As a magnetic field vector measuring tool, the magnetic measurement error of the three-axis magnetometer mainly comes from three-axis non-orthogonal, sensitivity inconsistency of sensitive axis and zero offset error. The calibration of the magnetometer affects the measurement performance of the magnetometer. In order to solve the calibration problem of three-axis magnetometer, the error compensation model for the magnetometer is established. The calibration method of the three-axis magnetometer based on sine fitting is proposed. The output data of the three-axis magnetometer is fitted into the sine curve when the magnetometer is rotated on a plane. The calibration parameters of the three-axis magnetometer are calculated by using the information of amplitude, initial angle and translational value of sine curve. The simulation results show that the proposed method can solve the calibration problem without the process of nonlinear optimization, and the calculated calibration parameters are in good agreement with the set values. The measurement noise has little effect on the three-axis sensitivity coefficient and the non-orthogonal angle.