Adaptive calibration of the rotation error of total magnetic field for AUV based on Marine Predators Algorithm

Vectoral magnetometer could reveal more detail in geomagnetic prospection, but was limited by rotation error when applied on ship, towed fish or underwater vehicles. Rotation error is caused by the intrinsic magnetism of the carrier body material, which will lead to data fluctuation of total field when the carrier changes its attitude. This paper rebuilds the rotation error model considering the soft magnetism, hard magnetism and electromagnetism of autonomous underwater vehicle. A new in-situ calibration method based on Marine Predators Algorithm(MPA) is proposed, which calibrate the rotation error by using on site data and compensate the error parameters adaptively. Outdoor pool test and sea trial have been completed and original data was calibrated by different algorithm. The results show that the calibration applying MPA achieves best performance rather than other algorithm, and iteration efficiency of MPA is also the best.