Whole machine magnetometer calibration method applied to micro unmanned plane

A calibration method and magnetometer technology, applied in the field of detection, can solve problems such as incomplete calibration parameters and complex magnetometer calibration, and achieve the effects of high execution efficiency, complete error parameters, and high feasibility

Active Publication Date: 2015-05-13
航天时代飞鸿技术有限公司
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is: in view of the complicated calibration of the magnetometer in the miniature unmanned aerial vehicle and the incomplete calibration parameters, the main error paramet

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  • Whole machine magnetometer calibration method applied to micro unmanned plane
  • Whole machine magnetometer calibration method applied to micro unmanned plane
  • Whole machine magnetometer calibration method applied to micro unmanned plane

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Embodiment Construction

[0020] The present invention will be further introduced below in conjunction with the accompanying drawings.

[0021] Before calibration, the drone needs to be powered on so that the calibration environment of the magnetometer is similar to the working environment during flight.

[0022] During the calibration process, the micro UAV is figure 2 Rotate as shown to ensure calibration accuracy. The UAV collects magnetometer data at the corresponding attitude by detecting the state of the sensor, and calculates the error parameters of the corresponding process. The relevant control commands are sent through the UAV ground station, see figure 1 , to realize the online calibration of the magnetometer of the micro UAV. The calibration content includes: external magnetic interference and magnetometer sensor error parameter calculation, installation error parameter calculation, and machine error parameter integration.

[0023] The specific implementation method is as follows:

[0...

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Abstract

The invention provides a whole machine magnetometer calibration method applied to a micro unmanned plane. The method comprises the following steps: integrating outside hard magnetic interference with null bias errors of a magnetometer, integrating outside soft magnetic interference with sensitivity errors of the magnetometer, carrying out ellipsoid fitting calculation on magnetic interference errors and magnetometer sensor errors, calculating a rotary error matrix of mounting errors by combining with the attitude information of the micro unmanned plane according to a calculation result; and finally calculating calibration parameters of the magnetometer under the condition with the whole micro unmanned plane according to simultaneous error parameters. The calibration parameters of the magnetometer are integrated with environment magnetic interference parameters, sensor error parameters and mounting error parameters. The method has the characteristics of high integration degree, high engineering applicability and high calibration accuracy.

Description

technical field [0001] The invention belongs to the field of detection, and specifically relates to a method for calibrating a magnetometer of a micro-miniature unmanned aerial vehicle, which can calculate the calibration parameters of the magnetometer in a micro-miniature unmanned aerial vehicle online, and obtain the condition of the magnetometer in the whole machine The exact output below. Background technique [0002] Due to its advantages in size, weight, and power consumption, and through combination with the inertial navigation system, the heading information of the navigation system can be corrected in real time, and the cumulative heading error can be eliminated. It is widely used in the navigation system of micro-miniature UAVs. [0003] The heading accuracy output by the magnetometer in the micro UAV is mainly affected by three factors. One is the sensor error existing in the magnetometer itself, including sensor zero position deviation, sensitivity error, orthog...

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Application Information

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IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 樊鹏辉魏雅川倪书豪刘伟龚晶苗楠梁宇恒
Owner 航天时代飞鸿技术有限公司
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