Geomagnetism correction method for pitch angle of quad-rotor unmanned helicopter
A four-rotor UAV, pitch angle technology, applied in ground navigation, navigation through speed/acceleration measurement, etc., can solve the problems of cost limitation, attitude influence, and low accuracy
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[0038] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0039] Such as figure 1 As shown, the geomagnetic correction method for the pitch angle of the quadrotor UAV in the embodiment of the present invention includes the following steps:
[0040] Step S1, establishing a body coordinate system and a navigation coordinate system.
[0041] Specifically, the coordinate system is established as follows: the body coordinate system is defined as follows: the X axis represents the roll axis, corresponding to the front; the Y axis represents the pitch axis, corresponding to the right; the Z a...
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