Check patentability & draft patents in minutes with Patsnap Eureka AI!

A magnetic compass calibration method and device, computer-readable storage medium

A calibration method and magnetic compass technology, applied in the field of drones, can solve problems such as large human error, inconvenient user operation, and reduced accuracy of magnetic compass calibration, so as to improve the accuracy of heading calculation and reduce the difficulty.

Active Publication Date: 2019-03-08
SHANGHAI TOPXGUN ROBOT CO LTD
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the above-mentioned calibration method needs to place the UAV perpendicular to the ground and rotate it around the vertical axis for at least one circle. For larger UAVs, it is difficult to keep the UAV perpendicular to the ground during the rotation process. The ground is not easy for users to operate, and the human error is large, which reduces the accuracy of magnetic compass calibration

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A magnetic compass calibration method and device, computer-readable storage medium
  • A magnetic compass calibration method and device, computer-readable storage medium
  • A magnetic compass calibration method and device, computer-readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] The unmanned aerial vehicle is navigated by the magnetic compass installed on it. The magnetic compass needs to be calibrated before the unmanned aerial vehicle flies. The magnetic compass has an x-axis, a y-axis and a z-axis, and a magnetoresistive sensor is used on each axis to measure the magnetic field strength; In the existing calibration method, the user usually rotates the drone installed with the electronic magnetic compass horizontally and vertically on the ground, that is, together with the drone, the x and y axes of the magnetic compass are rotated in the horizontal plane, and then the The man-machine is erected, and the z-axis of the magnetic compass is rotated in the horizontal plane to realize the precise calibration of the three-axis of the magnetic compass. For a large UAV, it is difficult to keep the UAV always perpendicular to the ground during the rotation process, which is inconvenient for users to operate, and the human error is large, which reduces ...

Embodiment 2

[0056] On the basis of Example 1, see figure 2 , this embodiment provides a method for initial calibration of a magnetic compass, which specifically includes the following sub-steps:

[0057] Step S120, determining the relationship between the calibrated magnetic field strength and the first magnetic field information data and compass coefficient measured by the magnetic compass;

[0058] The relationship between the calibrated magnetic field strength, the first magnetic field information data of the original data and the compass coefficient, for example, is expressed by the following formula:

[0059] Among them, σ and C are collectively referred to as the compass difference coefficient, where σ is the hard magnetic interference deviation, Determined by the hard magnetic material, C is the soft magnetic interference correction matrix, determined by the soft magnetic material; is the original data measured by the magnetic compass, that is, the first magnetic field infor...

Embodiment 3

[0087] On the basis of the above-mentioned Embodiments 1 and 2, this embodiment provides a method for ground level calibration of a magnetic compass installed on an unmanned aerial vehicle, specifically:

[0088] a) Collect the maximum and minimum magnetic field strengths in the x-axis direction, and collect the maximum and minimum magnetic field strengths in the y-axis direction;

[0089] b) Based on step a), the deviation value of the x-axis direction and the deviation value of the y-axis direction of the magnetic compass are obtained; the calculation formula is: M offest =(M max +M min ) / 2;

[0090] c) Calculate the deviation value of the z-axis direction; obtain the magnetic field strength after calibration of the magnetic compass based on the deviation value of the x-axis direction, the deviation value of the y-axis direction and the deviation value of the z-axis direction.

[0091] Further, described c) is specifically:

[0092] Compensate the x-axis direction deviat...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to the technical field of unmanned aerial vehicles and in particular relates to a magnetic compass calibration method. The method comprises the following steps: collecting multiple pieces of first magnetic field information data of a magnetic compass in different postures, wherein the first magnetic field information data are magnetic field intensities of various collection points on an axis x, an axis y and an axis z; performing initial calibration on the magnetic compass based on the first magnetic field information data; mounting the magnetic compass on an unmanned aerial vehicle, horizontally arranging the unmanned aerial vehicle, rotating the unmanned aerial vehicle by a circle by taking a vertical direction as an axis, and performing ground level calibration onthe magnetic compass mounted on the unmanned aerial vehicle. According to the magnetic compass calibration method and device and the computer readable storage medium provided by the invention, a stepof erecting the unmanned aerial vehicle in the user calibration process is avoided, the calibration accuracy is not reduced, ellipsoidal distribution of the original magnetic field measured values canbe effectively corrected, and the magnetic calibration operation difficulty is reduced. Therefore, course determination accuracy of an integrated navigation system is increased.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a magnetic compass calibration method and device, and a computer-readable storage medium. Background technique [0002] UAV is an unmanned aerial vehicle controlled by radio remote control equipment or its own program control device. With the rapid development of the UAV industry, more and more multi-rotor UAVs are applied to industries such as agriculture, forestry, electric power, surveying and mapping, and telemetry. [0003] The heading angle accuracy and heading angle variation uniformity of the multi-rotor UAV are very important for heading control. The electronic magnetic compass relies on the geomagnetic field for orientation because of its low cost, fast dynamic response, short startup time, small size and low power consumption. are widely used in drones. [0004] Affected by environmental factors and the electronic magnetic compass itself, the electro...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C17/38
CPCG01C17/38
Inventor 张羽王露尹亮亮李少斌
Owner SHANGHAI TOPXGUN ROBOT CO LTD
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com