平面电子罗盘的误差分析及补偿方法

上海大学学报(自然科学版) ›› 2009, Vol. 15 ›› Issue (2): 186-190.

平面电子罗盘的误差分析及补偿方法

马成瑶，钱晋武，沈林勇，章亚男

（上海大学机电工程与自动化学院，上海 200072）

收稿日期:2007-12-07 出版日期:2009-04-22 发布日期:2009-04-21
通讯作者: 钱晋武(1962～)，男，教授，博士生导师，博士, 研究方向为智能机械与精密系统、先进服务机器人技术等. E-mail:jwqianc@online.sh.cn
作者简介:钱晋武(1962～)，男，教授，博士生导师，博士, 研究方向为智能机械与精密系统、先进服务机器人技术等.
基金资助:
国家自然科学基金资助项目（50075050）；上海市科委重点科技攻关资助项目（021111115）；上海市重点学科建设资助项目（Y0102）

Error Analysis and Compensation of Plane Electronic Compass

MA Cheng-yao,QIAN Jin-wu,SHEN Lin-yong,ZHANG Ya-nan

(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)

Received:2007-12-07 Online:2009-04-22 Published:2009-04-21

摘要/Abstract

摘要：

介绍平面电子罗盘的工作原理，分析平面电子罗盘在安装和工作中可能存在的误差及其来源.分析罗差的产生和构成，在此基础上构造罗差方程并应用最小二乘法进行罗差补偿.通过这种补偿，电子罗盘的最大误差降到1°以内.实践证明,这种罗差补偿方法具有一定的普遍应用价值.

关键词: 内窥镜机器人；电子罗盘；误差分析；罗差补偿；最小二乘法

Abstract:

The principle of plane electronic compass is introduced, and the possible error and the error sources are analyzed. The deflection caused by local magnetic influence, for both the source and components, is analyzed. Based on the study, a deflection equation is obtained. The least square method is used for compensation, resulting in a maximum azimuth error of less than 1° so that the accuracy is increased. The results indicate that the methods of compensation can be widely used in similar applications.

Key words: endoscopic robot; electronic compass; error analysis; deflection compensation; least square method

中图分类号:

TH 712

马成瑶钱晋武沈林勇章亚男. 平面电子罗盘的误差分析及补偿方法[J]. 上海大学学报(自然科学版), 2009, 15(2): 186-190.

MA Cheng-Yao, QIAN Jin-Wu, SHEN Lin-Yong, ZHANG Ya-Nan. Error Analysis and Compensation of Plane Electronic Compass[J]. Journal of Shanghai University（Natural Science Edition）, 2009, 15(2): 186-190.