Calibration method of unmanned aerial vehicle sensor

Abstract

The invention provides a calibration method of an unmanned aerial vehicle sensor, which comprises the steps that a calibration instruction is sent through an APP, and a system obtains the enabling state of a current calibration switch; according to the enabling state of the current calibration switch, the unmanned aerial vehicle is processed according to a preset first rule, and the calibration enabling state of the unmanned aerial vehicle is obtained; when the calibration enabling state of the unmanned aerial vehicle is true, a calibration instruction is exeucted, sensor measurement values of the unmanned aerial vehicle are collected according to a preset second rule, the measurement values are calculated by using a damping least square method, and an optimal calibration parameter of the unmanned aerial vehicle sensor is solved; and the unmanned aerial vehicle sensor is calibrated according to the solved optimal calibration parameter of the unmanned aerial vehicle sensor. The problems are solved that an unmanned aerial vehicle sensor calibration method in the prior art is high in dependence on a calibration environment and low in precision.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a method for calibrating an unmanned aerial vehicle sensor. Background technique [0002] To carry out missions in the air, UAVs must have accurate orientation and attitude, and the calculation of orientation and attitude relies on sensors such as accelerometers and magnetometers. If there is a large error in the measurement data of these sensors, it will cause the UAV to lose its state or control. The sensor must have a certain error when leaving the factory, so it needs to be recalibrated before use. Designing an accurate, reliable, efficient and fast calibration scheme is not only the need of engineering practice but also the demand of users. [0003] In the calibration of existing UAV sensors, the traditional accelerometer calibration method relies heavily on the turntable equipment. However, in engineering practice, the conditions for high-precision turntables are ...

AI Technical Summary

Problems solved by technology

[0003] In the calibration of existing UAV sensors, the traditional accelerometer calibration method relies heavily on the turntable equipment

However, in engineering practice, the conditions for high-precision turntables are usually not available, and the accelerometer can only be calibrated approximately using the six-sided method.

The conventional six-sided method requires the six sides to be vertical and orthogonal, but this is difficult to achieve in actual operation, so the accuracy of the calibration results cannot be guaranteed

[0004] The traditional UAV sensor accelerometer and magnetometer calibration schemes are separated in process and software design, which is not conducive to background development and maintenance, and is not convenient for actual calibration operations

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