介绍了倾斜补偿下三轴磁航向测量的基本原理，分析了航向误差的形成原因。
In the paper, the theory of three-axis magnetic heading measurement with tilting compensation is introduced, and the cause of heading error is analyzed.
采用经滤波处理的姿态反馈角度对中位点各参数进行连续调节，实现过渡状态下对姿态在纵向和横向上的倾斜补偿。
The attitude feedback processed by a filter was used to adjust continuously the parameters of the reference point, and the lean along the longitudinal and lateral direction are compensated.
在大量实验分析的基础上提出了剪裁图像和局部阈值判断的方法，较好的补偿了谱线图像倾斜弯曲带来的影响。
Clipping the image and judging local threshold are put forward by a lot of experimental analysis, and it works to compensate the influence lead-in by gradient and bended spectral pattern.
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