针对磁阻航姿测量系统在实际应用中易受到周围环境中的软硬铁效应引起的罗差干扰导致其航向角精度较低的问题，本文在分析航姿测量系统罗差产生机理的基础上，建立了对应的罗差修正模型，同时在已知当地磁倾角和由捷联于测量系统中的加速度计提取的载体姿态信息的基础上，提出了采用超定线性方程组求最小二乘解的方法推导出罗差系数的标定补偿算法。最后利用设计的算法对系统进行误差补偿对比试验。结果表明，该罗差补偿算法是正确有效的，三轴软硬铁效应得到了有效的补偿并且航向角解算精度得到了显著提高。该补偿方法为后续的载体误差分析和补偿提供了理论参考，具有一定的工程应用价值。%For AHRS( Attitude and Heading Reference System) based on magneto-resistive sensor are vulnerable to the surrounding environment,it results in heading angle lower precision caused by the effects of hard and soft iron interference in practical applications. This paper establishes a correction model of magnetic deviation based on the analysis of AHRS magnetic deviation generation mechanism, and the article proposed the calibration and compensation algorithm of magnetic deviation coefficients using over-determined linear equations deriving the minimum squares solution,which is based on the given local magnetic inclination and through extracting attitude in-formation of carrier from the strap-down accelerometer in measurement system. Finally,the paper compares the error compensation using the design of the algorithm. The results show that the compensation algorithm is correct and effective,the tri-axial hard and soft iron effect has been effectively compensated and the calculated heading angle accuracy has been improved significantly. The compensation method for analysis and compensation of carrier provides a theoretical reference,and it has a certain value in engineering applications.
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