Integrated Compensation Method of Three-axis Magnetometer in Geomagnetic Navigation

Getting accurate measurements is one of the key technologies in geomagnetic navigation. The output deviation of magnetometers fixed on the vehicles is caused not only by sensor errors but also by vehicle magnetic field interference. In order to compensate the output error, this paper presents a new integrated method. By analyzing the reasons causing deviation of measurements from the corresponding magnetic field value, an integrated measurement model is achieved. In order to evaluate the parameters of the model, a non-linear observation equation about vector measurements and scalar truth is derived, and non-linear least square method is used to evaluate the unknown parameters of the equation. Finally simulation and experiment are carried out to assess the validity of the method. The results show that the integrated method is simpler, quick and effective in error compensation of three-axis magnetometer.