Aiming at the shortcomings of three-axis geomagnetic sensor such as troublesome steps of traditional error compensation method

relying on external instruments

so it can not be applied to geomagnetic navigation system of vehicles

an online compensation method for three-axis geomagnetic sensor error based on unscented Kalman filtering is proposed. Generation mechanism of geomagnetic sensor error is analyzed

and geomagnetic sensor error model suitable for vehicle navigation system is obtained. Unscented Kalman filter is designed to complete the estimation of the unknown parameters in the model

thus realize on-line compensation of error. The experimental result shows that the proposed method is effective and feasible

and the precision after compensation is within 0. 5°

which can achieve better compensation effect.