Ellipsoid fitting-based unmanned aerial vehicle magnetic sensor calibrating method and unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles and discloses an ellipsoid fitting-based unmanned aerial vehicle magnetic sensor calibrating method and an unmanned aerial vehicle. The method divides unmanned aerial vehicle postures into six types comprising a vertical upward direction along X axis, a vertical downward direction along X axis, a vertical upward direction along y axis, a vertical downward direction along Y axis, a vertical upward direction along Z axis and a vertical downward direction along Z axis. The method comprises rotating an unmanned aerial vehiclein each posture position, acquiring a series of output values of a magnetic sensor under different postures, fitting an ellipsoidal curved surface through the output values of the magnetic sensor, calculating a calibrating coefficient through the ellipsoidal curved surface, and compensating output of the unmanned aerial vehicle sensor through the calibration coefficient and calibration model. Themethod does not depend on external equipment, is easy to operate, has high calibration accuracy, can be flexibly used in any field, can calibrate six factors such as scale factors and zero point drifts and can improve the measurement accuracy of the magnetic sensor.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for calibrating a magnetic sensor of an unmanned aerial vehicle based on ellipsoid fitting and an unmanned aerial vehicle. Background technique [0002] The magnetic sensor determines the heading angle of the drone by measuring the earth's magnetic field. It can provide the flight control system with the heading of the drone, and then the attitude information of the drone can be obtained through the measurement data of the magnetic sensor, so that the drone can Carry out navigation guidance and control. However, the magnetic sensor will inevitably produce certain errors during the production and installation process. In addition, due to the weak strength of the earth's magnetic field, the magnetic sensor is easily affected by the external environment. Therefore, in order to obtain high-precision measurement information, it is necessary to che...

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Problems solved by technology

[0003] To sum up, the problems existing in the prior art are: the GPS sensor of the drone flying indoors cannot receive the GPS signal, and cannot be used for the magnetic sensor calibration of the indoor drone; the given reference method requires the use of a turntable, which can only It is used in occasions with turntables, the applicability is very limited, and it cannot be used for magnetic sensor calibration of UAVs without turntables

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