高精度磁信标中心位置与姿态角标定方法

Aiming at the problem that the actual magnetic field center and coordinate generated by magnetic beacon is usually inconsistent with the ideal situation, a high-precision calibration method of magnetic beacon based on low frequency time-varying magnetic field characteristic vector was proposed. Firstly, according to the magnetic field model of magnetic beacon in 3D space, the uncalibrated magnetic beacon is measured by magnetometers with known positions and attitudes to calculate central position of the actual magnetic field. Then the coordinate axis attitude angle of the actual magnetic field is calculated by the central position of the magnetic field and the direction vector measured by the magnetometer to calibrate magnetic beacons accurately. In the simulation experiment, the precision of the magnetic field center and attitude can reach to 0.009 m and 0.13 °. In practical experiments, the precision of positioning and attitude solution is improved by 28.6% and 62.8% compared with the traditional geometric estimation method, which verify the reliability and effectiveness of the proposed method. The magnetic beacon calibrated by the proposed method provides a more reliable, accurate and adaptable time-varying magnetic field signal source for the navigation system.