Orthogonality and mounting matrix calibration technology of high precision vector magnetometer
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摘要:
矢量磁强计的非正交性与安装矩阵偏差是造成高精度矢量磁场测量误差的重要原因，提高正交性及安装矩阵定标精度，有利于进一步降低矢量磁场的测量误差。利用自研大空间磁屏蔽室、无矩校准线圈及高精度无磁转台构成的高精度定标装置，开展了高精度磁强计的地面标定测试技术研究，重点研究了磁强计正交性和安装矩阵的定标技术，基于“Thin Shell”定标方法，通过多点旋转测量磁场的方式，实现了校正后正交性残差仅为
0.0014 °，精度相比传统方法提高了一个数量级，有效降低了矢量磁强计的转向差。通过对直接测量数据进行拟合计算转换参数，获得了实验条件下传感器最佳姿态安装矩阵，其定标精度达到0.0035 °，大幅度改善了矢量磁场测量中由于安装角度偏差所带来的测量误差。Abstract:The nonorthogonality and mounting matrix deviation of vector magnetometers are important components for high-precision vector magnetic field measurement errors. Improving orthogonality and mounting matrix calibration accuracy is beneficial for further reducing measurement errors of vector magnetic fields. This article conducts ground calibration testing technology research on high-precision magnetometers using a high-precision calibration equipment made up of a calibration coil, a high-precision non-magnetic turntable, and a self-developed big space magnetic shielding chamber. The focus is on the calibration technology of the orthogonality and mounting matrix of the magnetometer. Based on the “Thin Shell” calibration method, multi-point rotation measurement was verified and high-precision orthogonality calibration was achieved. After correction, the residual was only
0.0014 °, which is an order of magnitude lower than traditional methods and effectively reduces the heading error of vector magnetometers. The ideal mounting matrix of the sensor under experimental conditions was found by fitting and calculating the conversion parameters of the direct measurement data. This resulted in a calibration accuracy of0.0035 °, significantly reducing the measurement error brought on by installation angle deviation in vector magnetic field measurement.-
Key words:
- vector magnetometer /
- orthogonality /
- mounting matrix /
- calibration technology /
- calibration residual
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图 1 3个理想正交的磁轴x、y、z及实际中3个非正交的磁轴x$ ' $、y$ ' $、z$ ' $
Figure 1. Three orthogonal magnetic axes x, y, z and three non-orthogonal magnetic axes x$ ' $, y$ ' $, z$ ' $ in practice
图 2 矢量磁传感器测试标定方法原理示意图
Figure 2. Schematic diagram of calibration method for vector magnetic field test
图 3 高精度正交性及安装矩阵定标测试系统
Figure 3. High-precision orthogonality and installation matrix calibration test system
图 4 32点磁场测量矢量在磁传感器坐标中的投影
Figure 4. Projection of 32 points for magnetic field measurement vector in magnetic sensor coordinates
图 5 高精度磁矢量传感器现场定标试验
Figure 5. Field calibration test of high precision vector magnetometer
图 7 磁强计校正前后转向差对比曲线
Figure 7. Comparable curves between before calibration and after calibration in directional error
表 1 磁场定标系统性能要求与实测
Table 1. Correlation between measurement and design of magnetic field calibration system
性能指标 测试结果 大空间磁屏蔽室内部尺寸/（m×m×m） 14.24×10.26×10.06 大空间磁屏蔽室交流屏蔽系数/dB 65 大空间磁屏蔽室复现磁场范围/nT ±72 000 大均匀区磁场线圈线圈均匀区尺寸Φ/mm 2000 （球形空间）大均匀区磁场线圈Φ 2000 mm均匀区内不均匀度/%0.018 高精度无磁转台角度测量精度/（°） 0.00462 
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表 2 磁传感器安装矩阵均值误差
Table 2. Mean error of installation matrix about magnetic sensor
序号 误差/(°) 序号 误差/(°) 1 0.0760 17 0.0794 2 0.0780 18 0.0753 3 0.0817 19 0.0710 4 0.0800 20 0.0748 5 0.0833 21 0.0814 6 0.0774 22 0.0798 7 0.0806 23 0.0692 8 0.0833 24 0.0709 9 0.0787 25 0.0813 10 0.0784 26 0.0824 11 0.0811 27 0.0752 12 0.0751 28 0.0870 13 0.0769 29 0.0800 14 0.0857 30 0.0769 15 0.1175 31 0.0922 16 0.1149 32 0.0978
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表 3 安装矩阵定标误差分解
Table 3. Installation matrix calibration error decomposition
系统差ED/
(°)标准差ES/
(°)转台自身
误差ER/(°)安装矩阵定标
误差EA/(°)0.0797 0.005794 0.0046 0.0035
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