一种基于递推最小二乘法的运动平台剩磁差分测量与估计方法
doi: 10.11728/cjss2024.03.2023-0002 cstr: 32142.14.cjss2024.03.2023-0002
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朱明慧 女, 1997年7月出生于河北省保定市. 现为中国科学院国家空间科学中心博士生, 主要研究方向为运动载体平台磁干扰估计技术研究等. E-mail: zhuminghui20@mails.ucas.ac.cn -
高东 男, 1978年12月出生于河北省武邑县. 现为中国科学院国家空间科学中心副研究员, 中国科学院大学岗位教授, 硕士生导师, 主要研究飞行器自主导航与控制. E-mail: gaodong@nssc.ac.cn
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Remanence Model Estimation Method of Geomagnetic Navigation Carrier Based on Recursive Least Square Method
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摘要: 地磁导航是通过对地球周围矢量磁场进行测量从而实现导航的一种方法. 地磁导航在运动平台上应用的难点之一是平台剩磁对地磁测量的影响, 严重污染了磁强计的测量. 消除平台剩磁对地磁测量的影响成为地磁导航向应用转化的一项关键技术. 为实现运动平台剩磁的有效测量与估计, 提出了基于递推最小二乘法的运动平台剩磁差分测量与估计方法. 基于载体干扰磁场值只与测量点到磁偶极子的距离和磁偶极子的磁矩有关的结论, 根据磁偶极子的磁场分布特性, 推导出一种基于内置磁强计阵列的运动平台剩磁差分估计模型, 并通过递推最小二乘法求解差分估计模型. 大量仿真实验表明, 可以通过内置阵列磁强计对平台剩磁进行测量与估计, 验证了所提出的平台剩磁估计方法的有效性.Abstract: Geomagnetic navigation is a method of in-situ measurement of magnetic field by the magnetometer installed on the carrier platform to realize navigation. It is a passive navigation, which has the advantages of autonomy, strong anti-interference ability and no cumulative error. One of the difficulties in the application of geomagnetic navigation on moving platform is the influence of platform remanence on geomagnetic measurement, which seriously pollutes the measurement of magnetometer and becomes a key technology in the transformation of geomagnetic navigation to application. For example, the magnetic field distribution generated by ferromagnetic materials and the interference magnetic field generated by electrical equipment during work will pollute the measured value of the magnetometer, and then affect the accuracy of geomagnetic navigation. Aiming at the complicated problem of interfering magnetic field in geomagnetic measurement, this paper focuses on the effective measurement and estimation of the remanence of a moving platform. In order to realize effective measurement and estimation of remanence of moving platform, a method of differential measurement and estimation of remanence of moving platform based on recursive least square method is proposed. Firstly, the method is based on the conclusion that the carrier interference magnetic field value is only related to the distance between the measuring point and the magnetic dipole and the equivalent magnetic moment of the magnetic dipole in magnetic dipole theory, and the magnetic field distribution characteristics of the magnetic dipole. A remanence difference estimation model of moving platform based on built-in magnetometer array is derived, and the difference estimation model is solved by recursive least square method. Finally, a large number of simulation experiments show that the platform remanence estimation method can be measured and estimated by the built-in array magnetometer, which proves the effectiveness of the proposed method and lays a theoretical foundation for accurate geomagnetic navigation.
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图 9 m=9, n=6时每个磁偶极子的磁矩误差曲线
Figure 9. Magnetic moment error curve of each magnetic dipole at m=9 and n=6
图 5 m=5, n=6时每个磁偶极子的磁矩误差曲线
Figure 5. Magnetic moment error curve of each magnetic dipole at m=5 and n=6
图 6 m=6, n=6时每个磁偶极子的磁矩误差曲线
Figure 6. Magnetic moment error curve of each magnetic dipole at m=6 and n=6
图 7 m=7, n=6时每个磁偶极子的磁矩误差曲线
Figure 7. Magnetic moment error curve of each magnetic dipole at m=7 and n=6
图 8 m=8, n=6时每个磁偶极子的磁矩误差曲线
Figure 8. Magnetic moment error curve of each magnetic dipole at m=8 and n=6
图 10 m=10, n=6时每个磁偶极子的磁矩误差曲线
Figure 10. Magnetic moment error curve of each magnetic dipole at m=10 and n=6
图 11 均匀分布下m=10, n=6时每个磁偶极子的磁矩误差曲线
Figure 11. Magnetic moment error curve of each magnetic dipole with a uniform distribution of m=10 and n=6
表 1 m=5, n=6时磁偶极子误差百分比
Table 1. Error percentage of magnetic dipole when m=5 and n=6
磁偶极子序号 误差百分比值/(%) 1 0.76183 2 0.00672 3 0.00343 4 0.00404 5 0.00538 
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表 2 m=6, n=6时磁偶极子误差百分比
Table 2. Error percentage of magnetic dipole when m=6 and n=6
磁偶极子序号 误差百分比值/(%) 1 6.03741 2 0.03409 3 0.00509 4 0.00363 5 4.33320 6 8.05160
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表 3 m=7, n=6时磁偶极子误差百分比
Table 3. Error percentage of magnetic dipole when m=7 and n=6
磁偶极子序号 误差百分比值 /(%) 1 7.45261 2 0.05124 3 0.00446 4 0.00398 5 6.20780 6 5.06344 7 4.72406
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表 4 m=8, n=6时磁偶极子误差百分比
Table 4. Error percentage of magnetic dipole when m=8 and n=6
磁偶极子序号 误差百分比值/ (%) 1 9.43795 2 0.37934 3 0.05351 4 0.01930 5 7.37411 6 9.03933 7 9.40990 8 9.51667
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表 5 m=9, n=6时磁偶极子误差百分比
Table 5. Error percentage of magnetic dipole when m=9 and n=6
磁偶极子序号 误差百分比值/(%) 1 8.57700 2 0.32214 3 0.04867 4 0.01976 5 5.92758 6 9.05313 7 8.74328 8 7.89434 9 9.40489
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表 6 m=10, n=6时磁偶极子误差百分比
Table 6. Error percentage of magnetic dipole when m=10 and n=6
磁偶极子序号 误差百分比值/(%) 1 8.60312 2 0.30705 3 0.12553 4 0.12544 5 6.20852 6 9.14841 7 8.75330 8 9.51979 9 9.92289 10 8.76301
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表 7 均匀分布下m=10, n=6时磁偶极子的误差百分比
Table 7. Magnetic dipole error percentage when m=10 and n=6 under uniform distribution
磁偶极子序号 误差百分比值/(%) 1 8.77522 2 0.28271 3 0.13561 4 0.39641 7 5.38940 13 5.88672 20 1.73264 22 7.67923 26 8.03289 29 9.18390
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