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A magnetometer automatic calibration system and method for a multi-rotor aircraft

A multi-rotor aircraft, automatic calibration technology, applied in the direction of instruments, measuring devices, measuring electrical variables, etc., can solve the problem of inconvenient operation of vertical rotation

Active Publication Date: 2020-09-01
AVIC JINCHENG UNMANNED SYST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This requires manual operations by the user. In addition, if it is an aircraft with a large wheelbase, such as an aircraft with a wheelbase of more than 1m, it is obviously very inconvenient to perform vertical rotation operations.

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  • A magnetometer automatic calibration system and method for a multi-rotor aircraft
  • A magnetometer automatic calibration system and method for a multi-rotor aircraft

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Embodiment Construction

[0061] An embodiment of the present invention provides a magnetometer calibration method for an aircraft, which solves the traditional calibration method, which requires at least two planes of rotation before flying to improve the convenience of the aircraft. At the same time, it also proposes to use the variance of the magnetometer data before and after calibration as the completion of the decision calibration algorithm. In order to make the purpose, technical solutions and advantages of the present invention clearer, the implementation of the present invention will be further described in detail below in conjunction with the accompanying drawings:

[0062] The magnetometer calibration is mainly aimed at the fixed magnetic interference caused by the fuselage, resulting in a fixed zero bias value for the magnetometer data. The common magnetometer calibration method is mainly to obtain the maximum and minimum magnetic field data of the magnetometer by rotating it horizontally a...

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Abstract

The present invention relates to the technical field of multi-rotor aircraft, in particular to a magnetometer automatic calibration system and method for multi-rotor aircraft. Bias value, to compensate the data collected by the magnetometer; through real-time calculation of the variance with the modulus value of the earth's standard magnetic field vector to determine whether the calibration is completed. To sum up, the beneficial effects of the technical solution of the present invention are: no manual calibration operation is required, and it is automatically completed by the aircraft when flying in the air; the algorithm is simple, without a large number of matrix multiplication and division operations; the starting conditions and exit conditions of the algorithm are clarified, Reduced failure rate.

Description

technical field [0001] The invention relates to the technical field of multi-rotor aircraft, in particular to a magnetometer automatic calibration algorithm during the flight of the multi-rotor aircraft. Background technique [0002] The magnetometer is an important part of the multi-rotor aircraft. It mainly provides the measurement of the earth's magnetic field vector. Through multi-sensor data fusion with the gyroscope and the acceleration sensor, accurate attitude angle information can be obtained. However, because the magnetometer is easily disturbed by the external magnetic field, the measurement is inaccurate, and the accurate attitude angle information cannot be obtained, which has a great impact on the flight stability. Therefore, we need to calibrate the magnetometer data to reduce the influence of external interference on the measurement. [0003] At present, in the field of traditional aircraft, the calibration of the magnetometer has the following characteristi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01R35/00
CPCG01R35/005
Inventor 胡镇何巍罗伟
Owner AVIC JINCHENG UNMANNED SYST CO LTD