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摘要磁罗盘具有体积小、重量轻、功率小、成本低等特点，在车载、机载和个人定向等领域中均有广阔的应用前景。由于磁罗盘易受外部环境中的磁场变化的影响，在外磁场或者铁磁物体靠近时，定向信息的精度会降低，甚至使磁罗盘失效。MEMS陀螺仪具有敏感载体转动的特性。因此，将MEMS陀螺仪和磁罗盘进行组合，利用陀螺仪的特性，能够抑制外部环境对磁罗盘的干扰，修正磁罗盘的定向信息，提高组合系统的定向精度。本文就是研究如何借助磁罗盘来补偿MEMS陀螺仪的偏差，再利用陀螺仪在有干扰磁场的情况下进行航向测量，即设计所谓的陀螺仪辅助航向测量系统。
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本课题首先介绍了数字磁罗盘和MEMS陀螺仪的基本原理，在此基础上给出了总体方案设计、卡尔曼滤波模型以及卡尔曼滤波算法的设计。论文详细介绍了仿真软件各模块的设计方法，给出了具体的仿真参数并对得到的仿真的结果进行了详细的分析。仿真的结果表明，基于卡尔曼滤波算法的陀螺仪辅助航向测量系统是有效可行的。9870
关键词： 数字磁罗盘 MEMS陀螺仪 卡尔曼滤波 误差补偿
毕业设计说明书（论文）外文摘要
Title: A research on the correction of a combined heading
system consisting of MEMS gyro/magnetic compass
Abstract:
Magnetic compass has been applied widely in the fields of cars, aircrafts and personal heading system and so on because of its characteristics of small size, light weight, low power and low cost. Meanwhile its accuracy of measurement will decrease when the outer magnetic field or ferromagnetic objects approaching because magnetic compass will be affected by changes of the magnetic field in the external environment. Therefore the combination of the MEMS gyroscope and magnetic compass can suppress the external environment's interference to magnetic compass, correct the compass measurement information and also improve the heading accuracy of the combination. This paper is about to research on how to compensate for the deviation of the MEMS gyroscope with magnetic compass and then measure orientation with MEMS gyroscope in the condition with magnetic field interference which is also called gyroscope auxiliary heading measurement system.
Firstly, the basic knowledge of digital magnetic compass and MEMS gyroscopes is present in this paper. On this basis, the overall program together with the design of Kalman filter model and Kalman filter algorithm is also given in the paper. After that Design methods of each simulation module are introduced. Specific simulation parameters are given and the simulation results are analyzed comprehensively. The simulation results shows that gyroscope auxiliary heading measurement system based on Kalman filter algorithm is effectively and feasibly.
Keywords：digital compass, MEMS gyroscope, Kalman filter, error compensation
目 录
1 绪论 1
1.1 研究背景和意义 1
1.2 论文内容和章节安排 3
2 数字磁罗盘的工作原理和组成 4
2.1 数字磁罗盘的工作原理 4
2.2 数字磁罗盘的一般结构 6
2.3 数字磁罗盘的误差分析 7
2.3.1 系统误差的分类 7
2.3.2 零位误差 9
2.3.3 灵敏度误差 10
2.3.4 正交误差 11
2.3.5 安装误差 12
2.3.6 罗差 13
2.4 系统误差的数学模型 14
2.4.1 第一种形式 14
2.4.2 罗差方程形式 17
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