A dynamic real-time calibration method for multi-rotor UAV magnetometer
A technology of multi-rotor UAV and calibration method, which is applied in the field of dynamic real-time calibration of multi-rotor UAV magnetometer, which can solve the problems of unclear actual effect, difficult realization of airborne magnetometer calibration, and inability to apply dynamic calibration, etc.
Active Publication Date: 2021-04-23
GUANGDONG UNIV OF TECH
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Problems solved by technology
Aiming at the correlation between the coefficients of the three-axis magnetometer calibration model, some scholars proposed to solve the correction coefficient of the three-axis magnetometer based on the genetic algorithm, which solved the correlation problem between the correction coefficients of the magnetometer, but the method model Complicated, large amount of calculation, the actual effect is not clear; someone proposed a static calibration method based on least squares ellipsoid fitting of the magnetometer, which solves a class of static calibration problems
Aiming at the calibration problem of magnetometers of other equipment, a dynamic calibration method of "8" rotation mode was proposed, but this method is difficult to realize the calibration of airborne magnetometers in the air
In the existing research, the calibration mainly focuses on static calibration. At the same time, it is impossible for the UAV to achieve 360° rotation in space during stable flight in the air. Most of the research on dynamic calibration methods is difficult to achieve in the actual flight process. , cannot be used in dynamic calibration
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Embodiment 1
[0041] This embodiment provides a dynamic real-time calibration method for a multi-rotor UAV magnetometer, such as figure 1 , including the following steps:
[0042] S1: Establish the X-Y-Z coordinate system, and the multi-rotor UAV deflects at a small angle around the X, Y, and Z axes during stable flight;
[0043] S2: Use the small angle deflection during the stable flight of the multi-rotor UAV to make the magnetometer generate magnetic field data points in real time. All the magnetic field data points can be fitted into an ellipsoidal surface. The magnetometer uses LSM303DTR. The LSM303DTR includes A three-axis magnetometer and a three-axis accelerometer;
[0044] S3: Map the magnetic field data points continuously generated within a period of time to the XOY plane, XOZ plane and YOZ plane in the X-Y-Z coordinate system;
[0045] S4: Dynamic real-time calibration in the XOY plane;
[0046] S5: Perform dynamic real-time calibration in the XOZ plane and YOZ plane.
[004...
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The invention discloses a method for dynamic real-time calibration of a magnetometer of a multi-rotor unmanned aerial vehicle, comprising the following steps: S1: establishing an X-Y-Z coordinate system, and the multi-rotor unmanned aerial vehicle revolves around the X, Y, and Z axes during stable flight Small angle deflection; S2: Use the small angle deflection during the stable flight of the multi-rotor UAV to make the magnetometer generate magnetic field data points in real time, and all magnetic field data points can be fitted into an ellipsoidal surface; S3: Over a period of time Continuously generated magnetic field data points are respectively mapped to the XOY plane, XOZ plane and YOZ plane in the X-Y-Z coordinate system; S4: dynamic real-time calibration in the XOY plane; S5: dynamic real-time in the XOZ plane and YOZ plane calibration. The invention is simple in calculation and easy to implement, and can be widely used in the dynamic real-time calibration of the magnetometer of the multi-rotor unmanned aerial vehicle.
Description
technical field [0001] The invention relates to the field of dynamic calibration of unmanned aerial vehicles, and more specifically, relates to a dynamic real-time calibration method for a magnetometer of a multi-rotor unmanned aerial vehicle. Background technique [0002] With the widespread application of multi-rotor UAVs, airborne small inertial navigation systems have gradually become a research hotspot. The inertial navigation system is the main source for UAV flight control to obtain its own attitude information and the guarantee of stable flight. It consists of a three-axis gyroscope, accelerometer and magnetometer, forming an efficient module used in consumer, industry and other fields All kinds of drones. Gyroscopes and accelerometers are also called inertial sensors. Gyroscopes can measure the angular velocity of the carrier in the inertial coordinate system, and integrate to obtain the angular displacement; the accelerometer measures and calculates the non-gravit...
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IPC IPC(8): G01C17/38
Inventor 苏成悦王木华朱文杰
Owner GUANGDONG UNIV OF TECH