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利用磁场传感器可辅助载体进行角速度测量。在用于飞行载体时,由于载体通常伴随有圆锥运动,并且载体自身会对内部磁场产生干扰,使磁场传感器输出产生畸变,从而导致利用磁场辅助测量的载体角速度的误差较大。针对这个问题,提出了一种基于实时误差补偿的在圆锥运动及磁场干扰影响条件下利用磁场辅助进行角速度测量的方法。该方法利用载体过去1周旋转的数据,实时对圆锥运动与磁场干扰进行补偿,然后根据补偿结果计算当前载体的角速度。当载体角速度越大时,精度越高。通过飞行实验对该方法进行了验证,实验结果表明,在角速度大于300(°)/s时,角速度误差小于1(°)/s。
Magnetic field sensors can be used to assist the carrier for angular velocity measurements. When used on a flying carrier, the magnetic field sensor output is distorted due to the carrier usually accompanied by conical motion, and the carrier itself interferes with the internal magnetic field, resulting in a large error of the carrier angular velocity using magnetic field-assisted measurement. Aimed at this problem, a method based on real-time error compensation for measuring angular velocity with magnetic field assisted by conical motion and magnetic interference was proposed. The method uses the data of the carrier rotating in the past week to compensate for the coning and magnetic field disturbances in real time, and then calculates the current carrier angular velocity according to the compensation result. The higher the angular velocity of the carrier, the higher the accuracy. The method is verified by flight experiments. The experimental results show that the angular velocity error is less than 1 (°) / s when the angular velocity is more than 300 (°) / s.