【摘要】 针对传统方法标定复杂环境下含野值的MEMS三轴磁力计会出现精度较差的问题，提出了一种基于鲁棒列文伯格-马夸尔特(Robust Levenberg-Marquardt, RLM)的三轴磁力计标定方法。首先，对三轴磁力计进行误差模型分析，建立了基于模值估计的误差参数方程；然后利用误差参数方程，设计鲁棒列文伯格-马夸尔特的标定方法，实现对误差参数的估计；最后，通过仿真与实验测试对所提方法进行验证。结果表明，所提方法标定含野值的磁力计数据相比于传统方法模值标准差减小了近90%,在标定正常环境下的结果与传统方法则很接近，有效提高了多环境下标定结果的稳定性与准确性。更多还原

【Abstract】 Aiming at the problem of poor accuracy of MEMS triaxial magnetometer with outliers in complex environment to calibrate by traditional methods, a calibration method of triaxial magnetometer based on robust Levenberg-Marquardt(RLM)is proposed. Firstly, the error model of the triaxial magnetometer is analyzed, and the error parameter equation based on the model value estimation is established. Then, a calibration method of robust Levenberg-Marquardt is designed to realize the accuracy of the error parameter by using the error parameter equation. Finally, the method proposed is verified by simulation and experimental tests. The results show that the method proposed to calibrate the magnetometer data with outliers reduces the standard deviation of the modulus value by nearly 90% compared with the traditional method, and the results are close to those of the traditional methods in normal calibration environment, which effectively improves the stability and accuracy of the calibration results in multiple environments.更多还原