Geomagnetic vector field is always measured by a strapdown triaxial magnetometer on a vehicle. The magnetometer measurements are polluted by the magnetometer inherent errors, misalignment error, and vehicle-generated magnetic inferences. With the aid of absolute attitude information from the gyro, the calibration accuracy has been proved to be greatly improved, especially for vector measurements. However, the performance of calibration methods is greatly affected by the gyro bias, which causes error accumulated over time in the absolute attitude information. In this work, we propose an improved calibration method robust to gyro bias based on relative attitude information from the gyro. Simulation results indicated that the proposed method can estimate the calibration parameters more accurately and stably than the traditional method when the gyro bias exists. The influence on the calibration accuracy of the different parts of the gyro bias is also analyzed by simulation. Experiment using a low-cost gyro proved that the proposed method can effectively improve the estimation accuracy of the calibration parameters, as the influence on the traditional method of the gyro bias is 2–3 orders of magnitude higher than that on the proposed method.

中文翻译：

---

陀螺仪偏置稳健的陀螺仪辅助捷联三轴磁力计校准方法

地磁矢量场始终由车辆上的捷联三轴磁力仪测量。磁力计的固有误差，未对准误差和车辆产生的磁推论会污染磁力计的测量结果。借助于来自陀螺仪的绝对姿态信息，已证明可以大大提高校准精度，尤其是对于矢量测量而言。然而，校准方法的性能受到陀螺仪偏置的极大影响，该陀螺仪偏置导致随时间累积的绝对姿态信息中的误差。在这项工作中，我们提出了一种改进的校准方法，该方法基于陀螺仪的相对姿态信息对陀螺仪偏置具有鲁棒性。仿真结果表明，与传统方法相比，该方法在存在陀螺仪偏置的情况下可以更准确，更稳定地估计标定参数。还通过仿真分析了陀螺仪偏置不同部分对校准精度的影响。使用低成本陀螺仪进行的实验证明，该方法可以有效地提高校准参数的估计精度，因为对传统陀螺仪偏置方法的影响比所建议的方法要高2-3个数量级。