In spite of the vehicle, magnetic field interference can be reduced by some measures and techniques in ammunition design and manufacturing stage, the corruption of the vehicle magnetic field can still reach hundreds to thousands of nanoteslas. Besides, the magnetic field that the ferromagnetic materials generate in response to the strong magnetic field in the vicinity of the body. So, a real-time and accurate vehicle magnetic field calibration method is needed to improve the real-time measurement accuracy of the geomagnetic field for spinning projectiles.,Unlike the past two-step calibration method, the algorithm uses a linear model to calibrate the magnetic measurement error in real-time. In the method, the elliptical model of magnetometer measurement is established to convert the coefficients of hard and soft iron errors into the parameters of the elliptic equation. Then, the parameters are estimated by recursive least square estimator in real-time. Finally, the initial conditions for the estimator are established using prior knowledge method or static calibration method.,Studies show the proposed algorithm has remarkable estimation accuracy and robustness and it realizes calibration the magnetic measurement error in real-time. A turntable experiments indicate that the post-calibration residuals approximate the measurement noise of the magnetometer and the roll accuracy is better than 1°. The algorithm is restricted to biaxial magnetometers’ calibration in real-time as expressed in this paper. It, however, should be possible to broaden this method’s applicability to triaxial magnetometers' calibration in real-time.,Unlike the past two-step calibration method, the algorithm uses a linear model to calibrate the magnetic measurement error in real-time and the calculation is small. Besides, it does not take up storage space. The proposed algorithm has remarkable estimation accuracy and robustness and it realizes calibration the magnetic measurement error in real time. The algorithm is restricted to biaxial magnetometers’ calibration in real-time as expressed in this paper. It, however, should be possible to broaden this method’s applicability to triaxial magnetometers’ calibration in real-time.

中文翻译：

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旋转弹丸磁力计实时校准算法

尽管在弹药设计和制造阶段可以通过一些措施和技术减少车辆磁场干扰，但车辆磁场的破坏仍然可以达到数百到数千纳特斯拉。此外，铁磁材料响应身体附近的强磁场而产生的磁场。因此,需要一种实时、准确的车辆磁场标定方法来提高旋转弹丸地磁场的实时测量精度。,与以往的两步标定方法不同,该算法采用线性模型对地磁场进行标定。实时磁测量误差。在方法中，建立了磁力计测量的椭圆模型，将硬铁和软铁的误差系数转化为椭圆方程的参数。然后，通过递归最小二乘估计器实时估计参数。最后,利用先验知识法或静态标定方法建立估计器的初始条件。研究表明,该算法具有显着的估计精度和鲁棒性,实现了磁测量误差的实时标定。转台实验表明，校准后的残差近似于磁力计的测量噪声，滚动精度优于1°。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，它 应该可以拓宽该方法对三轴磁力计实时校准的适用性。,与以往的两步校准方法不同,该算法采用线性模型实时校准磁测量误差,计算量小。此外，它不占用存储空间。该算法具有显着的估计精度和鲁棒性，实现了磁测量误差的实时校准。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，应该可以扩大这种方法对三轴磁力计实时校准的适用性。该算法采用线性模型对磁测量误差进行实时标定，计算量小。此外，它不占用存储空间。该算法具有显着的估计精度和鲁棒性，实现了磁测量误差的实时校准。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，应该可以扩大这种方法对三轴磁力计实时校准的适用性。该算法采用线性模型对磁测量误差进行实时标定，计算量小。此外，它不占用存储空间。该算法具有显着的估计精度和鲁棒性，实现了磁测量误差的实时校准。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，应该可以扩大这种方法对三轴磁力计实时校准的适用性。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，应该可以扩大这种方法对三轴磁力计实时校准的适用性。该算法仅限于双轴磁力计的实时校准，如本文所述。然而，应该可以扩大这种方法对三轴磁力计实时校准的适用性。