CN106918350B - A kind of Geomagnetic Field Model error compensating method applied in earth-magnetism navigation - Google Patents
A kind of Geomagnetic Field Model error compensating method applied in earth-magnetism navigation Download PDFInfo
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Abstract
The present invention provides a kind of Geomagnetic Field Model error compensating methods applied in earth-magnetism navigation, this method is the error between geomagnetic field measuring data and geomagnetic model output data after entering the convergence phase by analysis earth-magnetism navigation filtering algorithm, finds the error with the changing rule of geographic latitude；Frequency estimation is carried out using Fourier transform pairs error information, main frequency is then based on and carries out data fitting, obtain the mathematical model of geomagnetic model error；Based on this mathematical model, in conjunction with the changing rule between earth magnetism error information and geographic latitude, prediction in real time and compensation are carried out to Geomagnetic Field Model error in filtering, it is final to realize the purpose for improving earth-magnetism navigation precision.
Description
Technical field
The present invention relates to autonomous navigation of satellite technical fields, and in particular to a kind of earth's magnetic field mould applied in earth-magnetism navigation
Type error compensating method.
Background technique
Earth-magnetism navigation is compared by the measured value of magnetometer on star and the output valve (predicted value) of geomagnetic model
To orbital exponent information, the determination of track may be implemented using the update information, and then achieve the purpose that Spacecraft Autonomous Navigation.
Earth-magnetism navigation is the important independent navigation mode of one kind of near-earth spacecraft, it can be achieved that Space Vehicle position, speed and posture letter
The autonomous determination of breath.Compared with traditional GPS satellite navigation, with the strong advantage of strong antijamming capability, concealment；It is led with inertia
Boat is compared, and earth-magnetism navigation error is not accumulated at any time, and navigation system is small in size, low in energy consumption.Therefore Near Earth Orbit Satellites,
Submarine navigation device etc. has a good application prospect.
When being navigated using earth's magnetic field for near-earth spacecraft, need to estimate predicted value using geomagnetic model, so ground
Magnetic field model is the basis for realizing that earth-magnetism navigation is indispensable, the difference between geomagnetic model and practical earth's magnetic field, i.e. earth magnetism mould
Type precision is the central factor for restricting navigation and positioning accuracy, so the precision for improving geomagnetic model is to realize accurately magnetic navigation
Most important approach.Currently, common geomagnetic model, such as international root-mean-square-deviation (International
Geomagnetic Reference Field, IGRF), world magnetic model (World Magnetic Model, WMM) be
Using Gauss spheric harmonic function, earth's magnetic field and geographical location (longitude, latitude, height) mathematical relationship expression formula, this side are established
The advantages of method is the model that can obtain reasonable, reflection magnetic field comprehensively a macroscopic view distribution, but has ignored local magnetic
Exception information.Additionally, due to the space structure and time evolution properties of earth's magnetic field complexity, although people are in terms of studying earth's magnetic field
Many effort have been done, have updated the high-precision magnetic field model for being once still difficult to obtain the whole world within geomagnetic model every 5 years.It is observed
The error of the limitation of data, analysis method and model order, international Geomagnetic Field Model IGRF is likely to be breached 250nT, it is clear that no
It is able to satisfy the demand of high-precision satellite navigation.
Based on the above analysis it is found that research Geomagnetic Field Model error compensating method is the important directions of earth-magnetism navigation research.
And the domestic research in this direction is less, foreign study will not disclose its research achievement due to the background of Military Application.From
From the point of view of disclosed data, common model compensation method be by establish Gauss spherical harmonic coefficient and coefficient time variation amount (WhereinIndicate Gauss spherical harmonic coefficient,Indicate the variable quantity of spherical harmonic coefficient, 1 table of subscript
Show that order, subscript 1 indicate number；) state equation repaired in real time during the navigation process and using these coefficients as state variable
Just, to achieve the purpose that improve navigation accuracy.But since the spherical harmonic coefficient of model up to N* (N+2) is a, (N is Gaussian sphere
The order of humorous coefficient), so the real-time estimation of multimode amount is a very big challenge to the computing capability of spaceborne computer, and
And the method is not suitable for the application in engineering yet.
Summary of the invention
It is an object of the present invention in view of accurately magnetic navigation and its two aspect factor of engineer application, the present invention mention
A kind of simple and effective geomagnetic model error compensating method out.This method using Fourier transformation carry out measurement residuals frequency
Line identification, then establishes the function expression between residual error and geographical feature, is finally reached compensation geomagnetic model error, improves ground
The purpose of magnetic navigation precision.
To achieve the above object, the present invention provides a kind of Geomagnetic Field Model error compensation sides applied in earth-magnetism navigation
Method, this method are that the geomagnetic field measuring data and geomagnetic model after entering the convergence phase by analysis earth-magnetism navigation filtering algorithm export
Error between data finds the error with the changing rule of geographic latitude；Frequency is carried out using Fourier transform pairs error information
Rate identification is then based on main frequency and carries out data fitting, obtains the mathematical model of geomagnetic model error；It is with this mathematical model
Basis, in conjunction with the changing rule between earth magnetism error information and geographic latitude, in filtering to Geomagnetic Field Model error into
Row prediction in real time and compensation, realize the purpose for improving earth-magnetism navigation precision.
The Geomagnetic Field Model error compensating method being applied in earth-magnetism navigation, specifically includes:
Step 1) when earth-magnetism navigation filtering algorithm stablize after, calculate the present satellites orbital period in geomagnetic field measuring data with
Measurement residuals between Geomagnetic Field Model output data；
Step 2) recognizes the frequency information of measurement residuals using Fourier transformation；
Step 3), in the expression formula fitting measurement residuals under frequency and the relationship between geographical feature, is built according to measurement residuals
Vertical residual error mathematical model；
Geographic latitude data in next satellite orbit period are input in the mathematical model of residual error by step 4), are calculated and are obtained
The compensated information of measurement residuals of the Geomagnetic Field Model in next satellite orbit period.
As a further improvement of the above technical scheme, in the step 2) Fourier transformation expression formula are as follows:
Wherein: Ai,ωi,Respectively indicate the amplitude, frequency and phase of each cosine component；T indicates the time；C is constant value item；
ΔBx/zIndicate the measurement residuals of the x and z both direction of coordinate system under east northeast；The geomagnetic field measuring data include x, y and z tri-
The measurement data of a direction vector.
As a further improvement of the above technical scheme, between the step 2) and step 3) further include: setting amplitude
Threshold value be 4nT, the amplitude of each cosine component is compared in the frequency information obtained using threshold value with step 2), selection amplitude
Greater than the cosine component of the threshold value, as the frequency information for participating in fitting in step 3).
As a further improvement of the above technical scheme, the residual error mathematical model in the step 3) indicates are as follows:
Wherein, t=a* θ+b, ηi=a ωi；θ is latitude value；A is slope, and b is constant value.
As a further improvement of the above technical scheme, the compensation calculation formula of measurement residuals indicates in the step 4)
Are as follows:
Wherein, u, d are illustrated respectively in two stages of inner orbit raising and lowering satellite period, Δ B2Indicate latter rail
Compensated measurement residuals, B in the road periodIt surveys,BMouldRespectively indicate the measured value and earth magnetism of geomagnetic field intensity in the latter orbital period
The output valve of field model,Respectively indicate two stages of track raising and lowering
In three direction vectors measurement residuals offset, θ2Indicate the latitude value in the latter orbital period, f1(θ2) indicate latter rail
Latitude value θ in the road period2Substitute into the residual error mathematical model that the previous orbital period established.
A kind of Geomagnetic Field Model error compensating method advantage applied in earth-magnetism navigation of the invention is:
1, navigation accuracy is high
The present invention can compensate the constant error of Geomagnetic Field Model on the basis of model prediction.Based on satellite
The emulation that carries out of earth's magnetic field measured data show using after compensation method of the invention so that the position of single earth-magnetism navigation
63% and 58% can be improved respectively with velocity accuracy.(through emulation testing, under the same conditions, existed based on geomagnetic model error
It is 2.72km and 3.26m/s that line, which compensates earth-magnetism navigation precision, and traditional earth-magnetism navigation precision is 7.4km and 7.75m/s)
2, future in engineering applications is wide
Compensation method proposed by the invention does not need to increase other measuring devices, merely with the measurement in filtering
Residual error can predict model error, therefore have stronger engineering application value.
Detailed description of the invention
Fig. 1 a is error cyclically-varying curve of the Geomagnetic Field Model on the direction BX.
Fig. 1 b is error cyclically-varying curve of the Geomagnetic Field Model on the direction BY.
Fig. 1 c is error cyclically-varying curve of the Geomagnetic Field Model on the direction BZ.
Fig. 2 is a kind of Geomagnetic Field Model error compensating method flow chart applied in earth-magnetism navigation provided by the invention.
Fig. 3 is the distribution on global figure of Geomagnetic Field Model intensity F.
Fig. 4 a is the error change curve of satellite orbit ascent stage and decline stage of the Geomagnetic Field Model on the direction BX.
Fig. 4 b is the error change curve of satellite orbit ascent stage and decline stage of the Geomagnetic Field Model on the direction BZ.
Fig. 5 is the operational flowchart that residual error mathematical model is established in method of the invention.
Fig. 6 is the flow chart of Geomagnetic Field Model error on-line prediction and compensation in method of the invention.
Fig. 7 is the earth-magnetism navigation flow chart that Geomagnetic Field Model error compensation is carried out using method of the invention.
Fig. 8 is earth-magnetism navigation location error change curve.
Fig. 9 a is residual error data section of the Geomagnetic Field Model on the direction BX.
Fig. 9 b is residual error data section of the Geomagnetic Field Model on the direction BZ.
Figure 10 a for no Geomagnetic Field Model error compensation location error curve.
Figure 10 b is the location error curve for having Geomagnetic Field Model error compensation.
Specific embodiment
With reference to the accompanying drawings and examples to a kind of Geomagnetic Field Model mistake applied in earth-magnetism navigation of the present invention
Poor compensation method is described in detail.
The present invention be directed to the online compensation methods that Geomagnetic Field Model constant error in earth-magnetism navigation proposes.It is primarily based on and defends
The measured data of star obtains three direction vector constant errors of Geomagnetic Field Model.It can be seen that from Fig. 1 a, Fig. 1 b and Fig. 1 c
The error in tri- directions BX, BY, BZ all has the characteristics that cyclically-varying.In earth-magnetism navigation, include in measurement residuals information
Whole model errors.As shown in Fig. 2, a kind of Geomagnetic Field Model error compensation applied in earth-magnetism navigation provided by the invention
Method, comprising the following steps:
Step 1) when earth-magnetism navigation filtering algorithm stablize after, calculate the present satellites orbital period in geomagnetic field measuring data with
Measurement residuals between Geomagnetic Field Model output data.
Step 2) recognizes the frequency information of measurement residuals using Fourier transformation.
Step 3) is according to measurement residuals in the expression formula fitting measurement residuals under frequency and between geographical feature (latitude)
Relationship establishes residual error mathematical model；The residual error mathematical model can predict that the model in next period misses using latitude as independent variable
Difference, while can compensate in earth-magnetism navigation algorithm.
Geographic latitude data in next satellite orbit period are input in the mathematical model of residual error by step 4), and output valve is made
For the compensated information of measurement residuals of the Geomagnetic Field Model in latter satellite orbit period, the error prediction of Geomagnetic Field Model is completed
With compensation.
The specific implementation step of above-mentioned error compensating method is as follows:
1, the frequency estimation of measurement residuals is carried out using Fourier transformation
Any periodic function may be expressed as the sine of different frequency or the form of the sum of cosine function, each sine
Respectively multiplied by different coefficients, original periodic function can be constituted by then carrying out linear combination for function or cosine function,
Even aperiodic function (area under the function is limited) can also with sine or cosine multiplied by the integral of weighting function come
It indicates.The linear combination of the SIN function or cosine function of different frequency is exactly Fourier space.Assuming that f (x) is any week
Phase function, then it is indicated with Fourier space are as follows:
Wherein: n indicates sequence；a0,an,bnIt is all real constant；X is independent variable.Fourier transformation is to convert time-domain signal
For frequency-region signal, signal of different nature value signal as usual, periodic signal have different characteristics under frequency domain.Pass through Fourier
Convert the amplitude-versus-frequency curve and phase-frequency characteristic curve of available one group of signal, and amplitude-versus-frequency curve and phase-frequency characteristic curve
Contain all information required for the present invention.Fourier transform formula indicates are as follows:
And Fourier transformation meets linear superposition theorem, if f1(x),f2(x) Fourier transformation is respectively F1(ξ),F2
(ξ), then have:
af1(x)+bf2(x)=aF1(ξ)+bF2(ξ) (3)
A, b respectively indicate coefficient, and ξ indicates frequency, and i indicates plural number, and x is independent variable.Fourier transformation is signal processing neck
A kind of method that domain generallys use can distinguish the part of different frequency in one group of signal.
For this purpose, being based on above-mentioned Fourier transform principle, measured in the present invention by Fourier transform pairs Geomagnetic Field Model
Residual error is recognized, its frequency information is obtained.As shown in figure 5, the track ascent stage after being stablized with filtering algorithm in certain period
For, Fourier transformation is carried out to the measurement residuals of BX, BZ both direction, it is available by different frequency cosine component and constant value
The expression formula of item composition.In view of the influence of noise, noise can be approximately considered and be made of component more by a small margin, set here
The threshold value of amplitude is that 4nT is judged.The amplitude of each cosine component carries out in the frequency information obtained using threshold value and step 2)
Compare, the cosine component for selecting amplitude to be greater than the threshold value forms mathematic(al) representation, as the frequency letter for participating in fitting in step 3)
Breath, it may be assumed that
Wherein: Ai,ωi,Respectively indicate the amplitude, frequency and phase of each cosine component；T indicates the time；C is constant value item；
ΔBx/zIndicate the measurement residuals of the x and z both direction of coordinate system under east northeast, the geomagnetic field measuring data include x, y and z tri-
The measurement data of a direction vector.
Coordinate system refers to that coordinate origin is located in local vertical guide in the mass center of satellite, X-axis and Y-axis under east northeast, wherein X-axis
It is directed toward north, Y-axis is directed toward east, and Z axis is vertical downwardly directed to the earth's core, and constitutes right hand rectangular coordinate system with X/Y axis.By to data point
Analysis discovery, variable quantity of the measurement residuals in the direction By is smaller, and periodically unobvious.Therefore, if to tri- sides Bx/By/Bz
To the compensation for carrying out model error, then simulated effect is poor, to the no effect of the raising of navigation accuracy.For this purpose, in the present invention
Method in, can and periodically apparent both direction Bx/Bz larger just for residual error variable quantity carry out prediction and error is mended
It repays, and no longer the error on the direction By is calculated.
Since the direction BX/BZ measurement residuals are only needed by the trend of cosine curve so under normal circumstances with the variation of latitude
Want 3-4 cosine components that can indicate the frequency domain characteristic of residual error.
2, Geomagnetic Field Model error fit
Earth's magnetic field has complicated space structure and time-varying characteristics, although it centered on the earth's core, earth's magnetic field is not
It is about the axisymmetric model in ground.From the distribution on global figure of Fig. 3 Geomagnetic Field Model intensity F also this it appears that its distribution not
Regularity.For Geomagnetic Field Model constant error, its changing rule is also not symmetrically, as shown in Fig. 4 a, 4b,
Geomagnetic Field Model is on the direction BX, BZ, and satellite orbit ascent stage is compared with two stages of decline stage, error change not phase
Together.Accordingly, it is considered to arrive the accuracy of curve matching, be divided into the fitting of two stages progress expression formulas each period.
It between latitude θ and time t is linear change in each period as shown in figure 5, satellite is in track operational process
Relationship, it may be assumed that
T=a* θ+b (5)
Wherein: a is slope, and b is constant value.And in the two neighboring period, latitude is held essentially constant, using this relationship,
Measurement residuals are expressed as the function about latitude, this expression formula can be used to predict to rise in adjacent periods or lower depression of order
The model error of section.
Above-mentioned formula (5) are substituted into formula (4), i.e. acquisition residual error mathematical model indicates are as follows:
Wherein: ηi=a ωi；
Using the relationship of above-mentioned curve-fitting method available measurement residuals and time, and during satellite motion,
Latitude and time keep linear relationship substantially in each period, therefore can finally obtain after filtering algorithm is stablized in any period
Function expression between measurement residuals and latitude.
3, Geomagnetic Field Model error on-line prediction and compensation
As shown in fig. 6, Geomagnetic Field Model error on-line prediction and the detailed process of compensation include: (1) selection filtering algorithm
Some period is the initial 1T period after stabilization, the step of using above-mentioned curve matching, respectively to the period inner orbit rise and under
The measurement residuals of BX, BZ both direction in depression of order section are fitted, and obtain following four function expressions:
Wherein, u, d respectively indicate two stages of track raising and lowering；θ1Indicate the latitude of satellite in the period；ΔB1x,
ΔB1zRespectively indicate in the period, under east northeast under coordinate system x and z both direction measurement residuals.
(2) in the 2T period Geomagnetic Field Model measurement residuals compensation and fitting
In above formula (7) based on four fitting expressions, Geomagnetic Field Model is carried out to the filtering in next cycle
Prediction and compensation, then shown in compensated measurement residuals such as following formula (8):
Wherein, Δ B2Indicate compensated measurement residuals, B in the latter orbital periodIt surveys,BMouldRespectively indicate earth magnetism in the 2T period
The measured value of field intensity and the output valve of geomagnetic model；Respectively indicate track
The measurement residuals offset of three direction vectors, θ in two stages of raising and lowering2For the latitude information in the 2T period；f1(θ2)
It indicates the latitude value θ in the latter orbital period2Substitute into the residual error mathematical model that the previous orbital period established.It is logical
Cross the analysis to error curve in Fig. 1, it is known that model error has periodically variable rule, so with the fitting table based on 1T
Up to the latitude of formula and 2T, the model error in the period can be predicted.Then as the constant error of model to earth's magnetic field
Model compensates.
It carries out curve fitting to the measurement residuals after 2T periodical filtering, can predict and compensates the mistake of the model in the 3T period
Difference.But it is noted herein that, due to being compensated model constant error within the 2T period, so compensated
Measurement residuals Δ B2TCompared with measurement residuals when normal filtering, numerically there is very big variation.If still to measure Δ
B2TBased on carry out curve fitting, be unable to get correct error prediction expression formula certainly.So residual in order to guarantee to measure here
Difference fitting it is accurate, need to be with after the compensation of 2T circular error
Based on carry out curve fitting, i.e., by the original measurement residual error data (uncompensated data) in 2T period as model in the 3T period
The expression formula of error prediction.
(3) compensation and fitting in the 3T period
Using compensation prediction, compensation and residual error approximating method in the 2T period, 3T periodic model error is compensated；With
This analogizes, and using above-mentioned approximating method to 4T, 5T ..., the NT period carries out identical error compensation operation.
Embodiment one
In the present embodiment, the earth-magnetism navigation process of Geomagnetic Field Model error compensation is carried out using method of the invention as schemed
Shown in 7: the measurement equation for initially setting up system and the state based on the motion dynamics equations that the earth connects firmly under coordinate system
Then equation utilizes the posture information of satellite, the measurement data of magnetometer is carried out coordinate conversion, the output with Geomagnetic Field Model
Measurement residuals are obtained after making difference, and are input to designed expansion card as the same state equation of navigation update information, measurement equation
In Thalmann filter, the higher navigation information of precision is finally obtained.Compensation method proposed by the present invention be for stabilization after filter
In wave device, as shown in fig. 7, specific implementation includes obtaining to measure residual error data, extracts frequency information and establishes residual error mathematical model,
And three steps of online compensation model error.
1, the residual error reference data after filtering algorithm is stablized is obtained
System state equation and measurement equation are established respectively, using magnetometer measured data on satellite as metrical information, design
Extended Kalman filter, then setting emulation primary condition (as shown in table 1).Obtain earth-magnetism navigation position as shown in Figure 8
Error change curve chooses some period after filtering algorithm is stablized as residual error data benchmark section, such as the area marked in Fig. 8
Between shown in.Fig. 9 a and Fig. 9 b respectively illustrate the measurement residuals in corresponding benchmark section on the direction BX and BZ.
Table 1 filters initial value
Table 1 Initial parameters of filter
Extended Kalman filter can be divided into time series update and measurement sequence updates, as follows:
Time series, which updates, to be indicated are as follows:
Measurement sequence, which updates, to be indicated are as follows:
In above formula:For state quantity prediction value,For the filter value of quantity of state, Respectively status predication value and
The error co-variance matrix of state filtering value, Z (k) are the metrical information of magnetometer, KkFor gain matrix, I is unit matrix；Φ
(k, k-1) indicates state-transition matrix；R (k), Q (k) are respectively to measure noise covariance matrix and system noise covariance square
Battle array.
2, it recognizes the frequency information of measurement residuals and establishes residual error mathematical model
The measurement residuals on the direction BX and BZ in reference period are chosen, propose residual error using the method for Fourier transformation
Main frequency information.Since the distribution in earth's magnetic field is not that symmetrically, satellite is in rail lift and drop two ranks of rail about earth's axis
In section, the changing rule of Geomagnetic Field Model error is also not identical.It is carried out so being classified into two stages of rail lift and drop rail here
The extraction of residual error frequency information.In addition, setting Rule of judgment because including the interference of fraction noise in residual information, casting out
Amplitude is less than the function item of 4nT, to retain the main cosine term for being able to reflect residual error changing rule.The note rail lift stage is u, drop
The rail stage is d, then the residual error data in benchmark section on the direction BX and BZ carries out the result such as following formula (11)-of Fourier transformation
(14) shown in:
By above various it is found that by Fourier transformation and after rejecting two processing steps of small magnitude noise, reference period
The expression formula of interior residual error can by several cosine function representation in components, such as: in 5.68*cos (0.00224*t+
1.67) in expression formula, 5.68 indicate the amplitude of this cosine signal, the frequency of 0.00224 expression cosine signal, t table in bracket
Show the time, 1.67 indicate the phase of cosine signal.Each expression formula right end last, such as -63.54 indicate signals constant value
?.
According to the operation characteristic of satellite, in rail lift u and drop two stages of rail d, geographic latitude θ and time t are linearly to become
The relationship of change, as shown in formula (15) and (16):
The θ (u)+1406 of t (u)=898.5 (15)
The θ of t (d)=- 898.5 (d)+1403 (16)
Formula (15) are substituted into formula (11) and (12), formula (16) substitutes into formula (13) and (14), available Bx/Bz both direction
On measurement residuals and geographic latitude θ between relational expression, the also referred to as mathematical model of residual error, such as following formula (17)-(20)
It is shown:
In above formula: θu,θdIt respectively indicates rail lift and drops the geographic latitude in rail stage.
3, on-line prediction and Geomagnetic Field Model error is compensated
There is periodically variable rule according to the measurement residuals on the direction BX/BZ, can use what above-mentioned steps obtained
Reference period residual error mathematical model predicts the residual information in adjacent periods in real time in filtering.It is assumed that in adjacent periods
Geographic latitude be respectively The relational expression for being substituted into measurement residuals and latitude in formula (17)-(20), can indicate such as
Under:
By the residual compensation of prediction into Geomagnetic Field Model, then the measurement renewal equation formula of expanded Kalman filtration algorithm
(10) it converts are as follows:
The rail lift stage:
The rail stage drops:
By implementing above-mentioned steps, the purpose of Geomagnetic Field Model error compensation during earth-magnetism navigation may be implemented.It uses
After method proposed by the invention, for navigation error curve as shown in Figure 10 a, 10b, it is 2T- that Figure 10 a, 10b, which give compensation section,
Location error contrast curve chart when 6T.From figure it can be concluded that, compared to the location error of no Geomagnetic Field Model error compensation
Curve, the position precision after error compensation can be increased to 2.7km by the 7.4km before compensating, before position precision is by compensating
7.35m/s be increased to 3.26m/s.It follows that using Geomagnetic Field Model error compensating method provided by the invention, Neng Gouyou
Effect improves the precision of earth-magnetism navigation.
It should be noted last that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting.Although ginseng
It is described the invention in detail according to embodiment, those skilled in the art should understand that, to technical side of the invention
Case is modified or replaced equivalently, and without departure from the spirit and scope of technical solution of the present invention, should all be covered in the present invention
Scope of the claims in.
Claims (5)
1. a kind of Geomagnetic Field Model error compensating method applied in earth-magnetism navigation characterized by comprising
Step 1) calculates geomagnetic field measuring data and earth magnetism in the present satellites orbital period after earth-magnetism navigation filtering algorithm is stablized
Measurement residuals between field model output data；
Step 2) recognizes the frequency information of measurement residuals using Fourier transformation；
Step 3), in the expression formula fitting measurement residuals under frequency and the relationship between latitude, establishes residual error number according to measurement residuals
Learn model；
Geographic latitude data in next satellite orbit period are input in the mathematical model of residual error by step 4), are calculated and are obtained earth magnetism
The compensated information of measurement residuals of the field model in next satellite orbit period.
2. the Geomagnetic Field Model error compensating method according to claim 1 applied in earth-magnetism navigation, which is characterized in that
The expression formula of Fourier transformation in the step 2) are as follows:
Wherein: Ai,ωi,Respectively indicate the amplitude, frequency and phase of each cosine component；T indicates the time；C is constant value item；Δ
Bx/zIndicate the measurement residuals of the x and z both direction of coordinate system under east northeast；The geomagnetic field measuring data include x, y and z tri-
The measurement data of direction vector.
3. the Geomagnetic Field Model error compensating method according to claim 2 applied in earth-magnetism navigation, which is characterized in that
Between the step 2) and step 3) further include: set the threshold value of amplitude as 4nT, the frequency obtained using threshold value and step 2)
The amplitude of each cosine component is compared in information, and amplitude is selected to be greater than the cosine component of the threshold value, is participated in as in step 3)
The frequency information of fitting.
4. the Geomagnetic Field Model error compensating method according to claim 2 or 3 applied in earth-magnetism navigation, feature exist
In the residual error mathematical model in the step 3) indicates are as follows:
Wherein, ηi=a ωi；θ is latitude value；A is slope, and b is constant value.
5. the Geomagnetic Field Model error compensating method according to claim 2 or 3 applied in earth-magnetism navigation, feature exist
In the compensation calculation formula of measurement residuals indicates in the step 4) are as follows:
Wherein, u, d are illustrated respectively in two stages of inner orbit raising and lowering satellite period, Δ B2Indicate latter track week
Compensated measurement residuals, B in phaseIt surveys,BMouldRespectively indicate the measured value of geomagnetic field intensity and earth's magnetic field mould in the latter orbital period
The output valve of type,WithIt respectively indicates three in two stages of track raising and lowering
The measurement residuals offset of a direction vector, θ2Indicate the latitude value in the latter orbital period, f1(θ2) indicate latter track week
Latitude value θ in phase2Substitute into the residual error mathematical model that the previous orbital period established.
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