一种手持式电子磁罗盘航向误差校正方法

针对传统的磁罗盘补偿方法计算量大、需要标定设备的问题，提出了一种利用陀螺仪相对航向辅助校准的方法。在分析磁罗盘误差的基础上建立了误差模型，采用梯度下降法解出姿态信息对磁场数据进行倾斜补偿，在陀螺仪相对航向角的辅助下，采用最小二乘法拟合经过倾斜补偿后的磁场数据求解出误差模型的系数。实验数据表明，该算法能够有效的对磁罗盘误差进行补偿，可以将磁罗盘的航向角测量误差控制在1°之内。

Heading Error Correction method for Hand-held Electronic Magnetic Compass

Against the disadvantage of large amount of calculation and demand calibration equipment for traditional magnetic compass heading correction algorithm, proposed an heading error correction method which exploit the relative heading. An error model is established on basis of analyzing the magnetic compass error, make use of the gradient descent method to solve the attitude information to compensate the magnetic field data, under the aid of the relative heading of the gyroscope, the least squares method is used to fit the magnetic field data after the tilt compensation to solve the coefficients of the error model. The experimental data show that the algorithm can effectively compensate the magnetic compass error, the error of the heading angle can be controlled within 1 °