A method for calculating aircraft attitude using geomagnetic information and optical flow sensor

A technology of optical flow sensor and magnetoresistive sensor, applied in attitude control, instrument, ground navigation, etc., to achieve optimal estimation, eliminate measurement blind spots, and avoid blind spots

Active Publication Date: 2021-08-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Application Information

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Problems solved by technology

[0006] In order to solve the above-mentioned problems in the prior art, the inventor provides a method for calculating the attitude of a flying object by using geomagnetic information, a GPS receiver and an optical flow sensor. The sensor measures the blind area caused by the roll angle to realize the multi-degree-of-freedom omnidirectional flight of the UAV

Method used

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  • A method for calculating aircraft attitude using geomagnetic information and optical flow sensor
  • A method for calculating aircraft attitude using geomagnetic information and optical flow sensor
  • A method for calculating aircraft attitude using geomagnetic information and optical flow sensor

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Embodiment 1

[0115] The geomagnetic information in Kunming area is: magnetic field strength M=47706.0nT, magnetic inclination I=38°51'0", magnetic declination D=-1°31'54". For convenience, the angle between the projection of the longitudinal axis of the quadrotor UAV on the horizontal plane and the magnetic north is ψ, and the magnetic north to the east is taken as positive.

[0116] Among them, the symbols are distinguished as follows:

[0117] ψ—the angle between the projection of the axis of the UAV in the horizontal plane and the magnetic north;

[0118] ψ—the angle between the projection of the axis of the UAV in the horizontal plane and the launching direction (the yaw angle).

[0119] Through the simulation calculation performed by Matlab software, the components of the magnetic field strength on the body section of the UAV are obtained under different launch directions and different pitch angles, as shown in Figure 6-1 and Figure 6-2 shown.

[0120] Depend on Figure 6-1 and...

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Abstract

The invention provides a method for calculating the attitude of an aircraft by using geomagnetic information, a GPS receiver and an optical flow sensor. is the weight, and the measurement noise covariance matrix is ​​adjusted, and the measurement noise covariance matrix is ​​determined according to the angle change between the longitudinal axis of the aircraft and the geomagnetic vector, so as to realize the optimal estimation of the roll angle of the aircraft. The method uses geomagnetic information, GPS receiver and optical flow sensor together to eliminate the influence of the blind area of ​​the aircraft measurement.

Description

technical field [0001] The invention relates to a method for calculating the attitude of a flying object by using geomagnetic information, a GPS receiver and an optical flow sensor, and in particular to a method for calculating the spatial blind area and inherent deviation of the roll angle of a flying object by using geomagnetic information, a GPS receiver and an optical flow sensor method. Background technique [0002] With the development of microelectronics technology, magnetic sensors have been widely used in the detection and measurement of magnetic fields. Among them, the magnetoresistive sensor is often used in the rolling attitude angle calculation system of flying objects, especially small UAVs, due to its small size, high sensitivity, excellent linearity, hysteresis error and zero temperature drift can be corrected. Due to the high flying speed and great freedom of movement of UAVs, the calculation accuracy of the attitude angle, especially the roll angle, direct...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00G01C21/00G01C21/08G01C21/20G05D1/08
CPCG01C1/00G01C21/005G01C21/08G01C21/20G05D1/0808
Inventor 王江胡少勇林德福李虹言王伟王辉王亚东董轶昊唐攀陶宏
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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