Online calibration method of magnetic sensor for unmanned aerial vehicle

A magnetic sensor and calibration method technology, applied in the direction of instruments, measuring devices, ground navigation, etc., can solve the problems of cumbersome calibration process, long calibration time, limited calibration accuracy, etc., reduce operation and maintenance costs, and achieve high-precision calibration Effect

Inactive Publication Date: 2018-08-28
北京扬舟科技有限公司
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AI Technical Summary

Problems solved by technology

[0003] The existing magnetic calibration technology is mainly divided into two categories. One is the planar calibration method. The calibration process of this method is simple and easy for users to use. However, in some environments with severe magnetic interference, the calibration accuracy is limited, and sometimes it cannot meet the needs of users. The second is the three-dimensional calibration method, which has high calibration accuracy, but the calibration process is complicated. For example, it needs to be calibrated at multiple locations in space. Not suitable for such calibration operations
If the above-mentioned existing calibration methods want to achieve better calibration accuracy, they all have the characteristics of complex calibration models, cumbersome calibration process operations, and long calibration time, which are very unfavorable for users' operation.

Method used

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  • Online calibration method of magnetic sensor for unmanned aerial vehicle
  • Online calibration method of magnetic sensor for unmanned aerial vehicle
  • Online calibration method of magnetic sensor for unmanned aerial vehicle

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Embodiment Construction

[0036] A method for online calibration of magnetic sensors for unmanned aerial vehicles provided by the present invention specifically includes the following steps:

[0037] Step 1. Rotate the body horizontally, and repeatedly acquire the pitch angle θ and roll angle γ detected by the inertial navigation system, and the three-axis output M of the magnetic sensor in the body coordinate system during the rotation process. x , M y , M z ;

[0038] Step 2. Calculate the original magnetic field strength vectors in multiple groups of horizontal planes according to the parameters obtained in the step 1

[0039] Step 3. Establishing an elliptical trajectory model of the rotation of the original magnetic field intensity vector in the horizontal plane, and fitting the magnetic calibration parameters based on the least square method;

[0040] Step 4. After the body rotates horizontally for one week, based on the multiple sets of magnetic field strength vectors H obtained in step 2, ...

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Abstract

The invention provides an online calibration method of a magnetic sensor for an unmanned aerial vehicle, which can solve the calibration problem of the magnetic sensor in a complicated magnetic ring environment. After being installed, a product makes one-time horizontal circular motion on an application device without being disassembled to realize the high-accuracy calibration of magnetic course parameters. The online calibration method has the beneficial effects that the operation and maintenance cost of a navigation device in the fields such as the unmanned aerial vehicle and an unmanned boat can be greatly decreased.

Description

technical field [0001] The invention relates to the field of magnetic sensor calibration, in particular to a method for calibrating a magnetic sensor used in an unmanned aerial vehicle by performing two fittings based on the least square method. Background technique [0002] At present, the combination of MEMS inertial + magnetic sensors, as a low-cost navigation module, is widely used in the fields of unmanned aerial vehicles, unmanned ships, and unmanned vehicles. Among them, the magnetic sensor mainly calculates the magnetic heading through the direction of the sensitive geomagnetic vector, but because the strength of the earth’s magnetic field is very weak, only about 0.5 Gauss, it is easily disturbed by various soft and hard magnetic environments outside. For example, due to the limitation of the internal installation space of the UAV, there are often various electrical equipment around the magnetic sensor, especially various actuators such as motors and steering gears....

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00G01C21/08
CPCG01C21/08G01C25/00
Inventor 赵洪松
Owner 北京扬舟科技有限公司
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