A magnetic compass rope calibration method for an unmanned aerial vehicle
A technology of unmanned aerial vehicle and magnetic compass, which is applied in the direction of compass, measuring device, surveying and navigation, etc. It can solve the problems of large calibration error and difficult disassembly and assembly, and achieve the effect of simple operation
Active Publication Date: 2017-07-18
STATE GRID CORP OF CHINA +3
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Problems solved by technology
[0003] The simple method of on-site calibration in the past is usually as follows: 1. Manual calibration is the simplest, but the calibration error is extremely large because the human cannot completely level or completely move the center of the circle when the calibration is carried out by the human hand; 2. Separate the aircraft inertial measurement unit for calibration , because the inertial measurement unit usually needs to be installed at the center of gravity of the drone, it is not easy to disassemble on site
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[0018] see figure 1 and figure 2 As shown, a magnetic compass rope calibration method of an unmanned aerial vehicle of the present invention is based on the upper bearing fixture 10, the upper bearing 201, the lower bearing 202, the upper suspension 301, the lower suspension 303 and the center of gravity base 40. carried out on the device;
[0019] The upper suspension 301 includes at least two equal-length upper rope assemblies, the lower ends of the equal-length upper rope assemblies are connected to the rotor arm of the drone, and the upper ends of the equal-length upper rope assemblies are respectively connected to the upper The lower end of the outer ring of the bearing 201 is fixedly connected; the upper end of the inner ring of the upper bearing 201 is connected with the upper bearing fixture 10, and the outer ring of the upper bearing 201 can rotate along the axis on the upper bearing fixture 201 ;
[0020] The lower suspension 302 includes at least two equal-lengt...
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The invention discloses a magnetic compass rope calibration method of an unmanned aerial vehicle. The method is implemented on a device composed of an upper bearing fixing piece, an upper bearing, a lower bearing, an upper suspension piece, a lower suspension piece and a barycenter base. The upper suspension piece and the lower suspension piece are used for horizontally suspending the unmanned aerial vehicle for horizontally calibrating the unmanned aerial vehicle, and the upper suspension piece and the lower suspension piece also can be used for perpendicularly suspending the unmanned aerial vehicle for perpendicularly calibrating the unmanned aerial vehicle. According to the method, a magnetic compass of the unmanned aerial vehicle is calibrated without disassembling or assembling an inertial measurement unit, so the method is simple in operation.
Description
technical field [0001] The invention relates to a method for calibrating a magnetic compass rope of an unmanned aerial vehicle, in particular to a method for horizontally calibrating and vertically calibrating an unmanned aerial vehicle. Background technique [0002] The inertial measurement unit of the UAV is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the acceleration signals of the three-axis independent object in the carrier coordinate system, and the gyroscope detects the angular velocity of the carrier relative to the navigation coordinate system. Signal, measure the angular velocity and acceleration of the object in three-dimensional space, and use this to calculate the attitude of the object. Inertial measurement unit has very important application value in UAV flight. ...
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IPC IPC(8): G01C17/38
CPCG01C17/38
Inventor 黄炜宏
Owner STATE GRID CORP OF CHINA