Compensation Technology of Vehicle Magnetometer Based on TTLS-Tikhonov Regularization

Based on the application background of magnetic directional navigation on ground-unmanned platforms. The motion of the ground carrier is limited to the 2-D plane, which causes the observation matrix composed of magnetic data to be seriously ill-conditioned, and it is difficult for traditional methods to estimate stable compensation parameters. In this article, a regularization method is introduced and combined with truncated total least squares (TTLSs) method and Tikhonov regularization to solve ill-conditioned problems. We control the stability of the solution by introducing regularization variables. During the test, the carrier did not need to travel a specific trajectory (such as an “8” shape) and did not rely on attitude assistance equipment. We verified this method through ground-mounted tests. Test results show that in the case of strong external magnetic interference, this method can solve the ill-conditioned problem of the magnetometer observation matrix by using relatively simple operations, and effectively improve the compensation accuracy of carrier interference magnetic field. The RMSE of the compensated magnetic heading error is better than 0.9°, which is approximately 75% higher than that of the particle swarm optimization (PSO). This method lays the foundation for magnetic field-assisted inertial navigation.