针对三轴磁场传感器零偏误差、刻度因子不一致性误差和非正交误差等,建立了磁场传感器的三个敏感轴与参考正交坐标系的转换矩阵；基于标量校准思想,推导了传感器三轴测量值与磁场标量值之间的线性化参数模型；根据最小二乘原理,进行传感器模型参数辨识.选取两款三轴磁通门磁力仪进行了误差校准实验研究,校准后,传感器的测量误差可以降低一个数量级.在实验过程中,不需要高精度的实验设备,在稳定地磁场环境下即可进行.实验研究表明,此方法是一种方便易行、精度较高的传感器校准方法.%Aiming at eliminating constant biases, scale factor deviations and nonorthogonality of the sensor axes, the conversion matrix between three sensitive axes of magnetometer and reference orthogonal coordinates system was established firstly. Secondly, error model of measurement was founded and a linear least square method for reckoning these parameter was deduced according to linearized parameter model. Then,the calibration experiments showed that measurement error of tri-axial magnetometer dropped to one tenth of original error after calibrated. The" calibration method doesn't need expensive nonmagnetic platform with three rotational axes nor apparatus producing even magnetic field and it is a convenient method with highly precision.
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