Method for simulating magnetic compass based on positioning attitude information, and magnetometer simulator

Abstract

The invention discloses a generation method for simulating measuring information of a magnetic compass based on attitude information, and a magnetometer simulator. The method includes steps: measuring longitude and latitude positioning information and attitude information (yawing, pitching, and rolling) of an unmanned aerial vehicle in real time by employing a single-board multi-antenna attitude determination receiver; determining a current geomagnetic field vector (in a geographic coordinate system) according to a longitude and latitude positioning result and a geomagnetic field model; determining an attitude matrix according to the attitude information of yawing, pitching and rolling; converting the geomagnetic vector in the geographic coordinate system to the geomagnetic vector in a body coordinate system through the attitude matrix to obtain a virtually generated magnetic compass three-axis measuring result; and outputting the result to a flight control module for calculation of the magnetic course and the true north course. The method and the magnetometer simulator are advantageous in that the principle is simple, the realization and the promotion are easy, the real magnetic compass can be rapidly and accurately replaced, the magnetic interference is avoided after replacement, and the process of elliptical calibration of the magnetic compass is avoided.

Description

technical field [0001] The invention mainly relates to the field of unmanned aerial vehicle navigation, in particular to a method for simulating a magnetic compass based on positioning attitude information and a magnetometer simulator. Background technique [0002] Whether it is a multi-rotor UAV or a fixed-wing UAV, the control system needs to provide high-precision and real-time position, velocity, and attitude estimation. High-precision measurement is the premise of high-precision control, and real-time performance corresponds to the needs of the control cycle. [0003] Although satellite navigation receivers can provide position and velocity information with errors that do not diverge over time, the update rate of data output is often far lower than the requirements of the flight control system, and the single-point positioning system cannot provide the attitude information required by the flight control system. . [0004] To provide real-time position, velocity, and a...

AI Technical Summary

Problems solved by technology

[0008] The technical problem to be solved by the present invention is: in order to overcome the deficiency that the magnetic heading of the existing flight control platform is susceptible to environmental interference, and to seamlessly connect to the flight control system without modifying the flight control code, the present invention provides a single-use The method of board multi-antenna satellite positioning and attitude information simulation to generate the magnetic compass measurement data required by the flight control system is equivalent to a compatible magnetometer from the perspective of the flight control system

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