中文摘要：

磁罗盘在使用过程中受周围铁磁物质的影响致使航向精度降低,因此对磁罗盘进行校准是十分必要的。针对传统的磁罗盘罗差校准算法存在系数矩阵易奇异导致算法不稳定的问题,提出了改进的最小二乘椭圆拟合算法。分析了外界磁干扰对磁罗盘输出的影响,建立了罗差的椭圆模型,通过对系数矩阵的奇异性进行分析,采用最小二乘方法实现了对椭圆模型误差系数的辨识。该算法克服了原有算法的不稳定性,对校准过程中的突变干扰有很强的抑制能力,同时将六维特征矢量的求解转化为三维特征矢量求解,在保证校准精度的情况下降低了计算量。多位置转台实验验证了该方法的有效性和实用性,校准后的磁罗盘精度由0.8°提高到0.4°,满足了导航系统的需求。

英文摘要：

It is essential to calibrate the compass deviation for a magnetic compass , for the navigation precision of the magnetic compass can be affected by the ferromagnetic materials in working environments. A improved least square ellipse fitting method was presented in this paper to improve the sta bility of the traditional calibration method that the coefficient matrix may be singular. The effect of the magnetic interference on the output of magnetic compass was analyzed and a ellipse model for the compass deviation was established. By analysis on the singularity of a coefficient matrix, the error coefficients of the ellipse model were identified by the least square ellipse fitting method. Experimental results show that the method suppresses the instability and prevents from the pulse disturbance. Moreover, by transforming six dimensional eigenvector＇s solutions into three dimensional eigenvector＇s solutions, it can reduce the computation load while keeping the precision. The multi-position experimental results prove the validity and practicality of this method and show that the precision of the calibrated magnetic compass is improved from 0. 8° to 0. 4°, which meets the requirement of the navigation system.