·1906· 工程科学学报，第39卷，第12期 (刘淑芝.自动检测系统中的电流测量技术.现代电子技术， (1SlE).Bai,2010:3356 2003,26(20):18) [14]Huang Y,Hao Y L.Eror correction of magnetic field component Yue Y,Mei J.Zheng J Y,et al.Study and application of giant gradiometer based on FLANN and least-squares.Chin J Sci In- magnetoresistive sensor.Electrotechnics Electric,2011(4):32 strum,2012,33(4):911 (岳芸，梅军，郑建勇，等.巨磁电阻传感器的研究与应用 (黄玉，郝燕玲.基于FLANN和最小二乘的磁梯度计误差校 电工电气，2011(4)：32) 正.仪器仪表学报，2012,33(4)：911) 8]Pei Y,Yu NF,Liu Q,et al.Theory and application of anisotrop- [15]Gebre-Egziabher D,Elkaim G H,David Powell J,et al.Cali- ic magnetoresistive sensor.Instrum Tech Sensor,2004(8):26 bration of strapdown magnetometers in magnetic field domain.J (裴轶，虞南方，刘奇，等.各向异性磁阻传感器的原理及其 Aerospace Eng,2006,19 (2)87 应用.仪表技术与传感器，2004(8)：26) [16]Zhang Z Q.Two-step calibration methods for miniature inertial Meng L C,Gao P F,Haji MM,et al.Magnetic sensor array- and magnetic sensor units.IEEE T Ind Electron,2015,62(6): based AC current measurement for multiconductor cables using ev- 3714 olutionary computation method.IEEE T Instrum Meas,2015,64 [17]Huang Y,Wu L H.Two-step complete calibration of magnetic (10):2747 vector gradiometer based on functional link artificial neural net- [10]Olson E R,Lorenz R D.Effectiveuse of miniature multipoint work and least squares.IEEE Sens Jl,2016,16(11):4230 field-based current sensors without magnetic cores.IEEE T'Ind [18]Foster CC,Elkaim G H.Extension of a two-step calibration 4ppl,2010,46(2):901 methodology to include nonorthogonal sensor axes.IEEE T Aero- [11]Erlewein P.Development of a Non-nrasive Measurement Applica- space Electron Syst,2008,44(3):1070 tion for Power Cables Using the Magnetoresistive Effect [Disserta- 19] Madgwick S O H,Harrison A J L,Vaidyanathan R.Estimation tion].Karlsruhe:Karlsruhe University of Applied Seience,2012 of IMU and MARG orientation using a gradient descent algorithm [12]Pylvanainen T.Automatic and adaptive calibration of 3D field //IEEE International Conference on Rehabilitation Robotics.Zur- sensors.Appl Math Model,2008,32(4):575 ich,2011:1 [13]Bluemm C,Weiss R,Weigel R,et al.Correcting nonlinearity 20]Fang JC,Sun H W,Cao JJ,et al.A novel calibration method and temperature influence of sensors through Bspline modeling of magnetic compass based on ellipsoid fitting.IEEE T Instrum 12010 IEEE International Symposium on Industrial Electronics Meas,2011,60(6):2053工程科学学报，第 39 卷，第 12 期 ( 刘淑芝． 自动检测系统中的电流测量技术． 现代电子技术， 2003，26( 20) : 18) ［7］ Yue Y，Mei J，Zheng J Y，et al． Study and application of giant magnetoresistive sensor． Electrotechnics Electric，2011( 4) : 32 ( 岳芸，梅军，郑建勇，等． 巨磁电阻传感器的研究与应用． 电工电气，2011( 4) : 32) ［8］ Pei Y，Yu N F，Liu Q，et al． Theory and application of anisotrop￾ic magnetoresistive sensor． Instrum Tech Sensor，2004( 8) : 26 ( 裴轶，虞南方，刘奇，等． 各向异性磁阻传感器的原理及其 应用． 仪表技术与传感器，2004( 8) : 26) ［9］ Meng L C，Gao P F，Haji M M，et al． Magnetic sensor array￾based AC current measurement for multiconductor cables using ev￾olutionary computation method． IEEE T Instrum Meas，2015，64 ( 10) : 2747 ［10］ Olson E Ｒ，Lorenz Ｒ D． Effectiveuse of miniature multipoint field-based current sensors without magnetic cores． IEEE T Ind Appl，2010，46( 2) : 901 ［11］ Erlewein P． Development of a Non-Invasive Measurement Applica￾tion for Power Cables Using the Magnetoresistive Effect ［Disserta￾tion］． Karlsruhe: Karlsruhe University of Applied Science，2012 ［12］ Pylvninen T． Automatic and adaptive calibration of 3D field sensors． Appl Math Model，2008，32( 4) : 575 ［13］ Bluemm C，Weiss Ｒ，Weigel Ｒ，et al． Correcting nonlinearity and temperature influence of sensors through B-spline modeling / / 2010 IEEE International Symposium on Industrial Electronics ( ISIE) ． Bari，2010: 3356 ［14］ Huang Y，Hao Y L． Error correction of magnetic field component gradiometer based on FLANN and least-squares． Chin J Sci In￾strum，2012，33( 4) : 911 ( 黄玉，郝燕玲． 基于 FLANN 和最小二乘的磁梯度计误差校 正． 仪器仪表学报，2012，33( 4) : 911) ［15］ Gebre-Egziabher D，Elkaim G H，David Powell J，et al． Cali￾bration of strapdown magnetometers in magnetic field domain． J Aerospace Eng，2006，19( 2) : 87 ［16］ Zhang Z Q． Two-step calibration methods for miniature inertial and magnetic sensor units． IEEE T Ind Electron，2015，62( 6) : 3714 ［17］ Huang Y，Wu L H． Two-step complete calibration of magnetic vector gradiometer based on functional link artificial neural net￾work and least squares． IEEE Sens Jl，2016，16( 11) : 4230 ［18］ Foster C C，Elkaim G H． Extension of a two-step calibration methodology to include nonorthogonal sensor axes． IEEE T Aero￾space Electron Syst，2008，44( 3) : 1070 ［19］ Madgwick S O H，Harrison A J L，Vaidyanathan Ｒ． Estimation of IMU and MAＲG orientation using a gradient descent algorithm / /IEEE International Conference on Ｒehabilitation Ｒobotics． Zur￾ich，2011: 1 ［20］ Fang J C，Sun H W，Cao J J，et al． A novel calibration method of magnetic compass based on ellipsoid fitting． IEEE T Instrum Meas，2011，60( 6) : 2053 · 6091 ·