Magnetic compass calibration method and related equipment

Abstract

The invention discloses a magnetic compass calibration method and related equipment, and relates to the technical field of unmanned aerial vehicle navigation, and the method comprises the following steps: responding to a magnetic compass calibration instruction, determining a calibration parameter to be collected, determining an attitude parameter corresponding to the collected calibration parameter, sending the attitude parameter to a three-axis turntable, receiving an attitude adjustment completion instruction sent by the three-axis turntable based on attitude adjustment completion, sending a parameter reading instruction to the unmanned aerial vehicle end based on the attitude adjustment completion instruction, receiving a calibration parameter sent by the unmanned aerial vehicle based on the parameter reading instruction, and performing magnetic compass calibration based on the calibration parameter. According to the application, the upper computer end is respectively communicated with the three-axis turntable and the unmanned aerial vehicle, and the instruction for adjusting the attitude of the three-axis turntable is automatically generated according to the requirement of data acquisition, so that the attitude of the unmanned aerial vehicle is automatically adjusted, and the calibration efficiency of the magnetic compass is improved.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) navigation technology, and in particular to magnetic compass calibration methods and related equipment. Background Technology

[0002] During the magnetic compass calibration process of a drone, the drone's attitude needs to be continuously adjusted to collect relevant data based on the sensors integrated in the drone's flight control system, and then the magnetic compass is calibrated based on the collected data.

[0003] In related technologies, ground stations are typically used to read data collected by drone sensors under different attitudes. However, this process still requires manual adjustment of the drone's attitude. Even when using a three-axis turntable, the ground station cannot be linked with the turntable, and the turntable's attitude still needs to be manually set. This manual adjustment method is not only inefficient but also prone to errors, resulting in low magnetic compass calibration efficiency and a poor user experience.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is related technology. Summary of the Invention

[0005] The main purpose of this application is to provide a magnetic compass calibration method and related equipment, which aims to solve the technical problems corresponding to the background art.

[0006] To achieve the above objectives, this application proposes a magnetic compass calibration method, applied to a host computer. The magnetic compass calibration method includes: In response to the magnetic compass calibration command, determine the calibration parameters to be collected, and determine the attitude parameters corresponding to the collected calibration parameters; The attitude parameters are sent to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable; Receive the attitude adjustment completion command sent by the three-axis rotary table after the attitude adjustment is completed; Based on the attitude adjustment completion command, a read parameter command is sent to the UAV terminal, so that the UAV can read the parameters collected by the UAV sensors based on the read parameter command and obtain the calibration parameters. The system receives calibration parameters sent by the drone based on the read parameter command, and performs magnetic compass calibration based on the calibration parameters.

[0007] In one embodiment, the step of determining the attitude parameters corresponding to the collected calibration parameters further includes: Determine the UAV attitude corresponding to the collected calibration parameters; Based on the UAV attitude, the turntable attitude of the three-axis turntable corresponding to the collected calibration parameters is determined, and the attitude of the UAV is consistent with the turntable attitude of the three-axis turntable. Based on the turntable posture of the three-axis turntable and the preset three-axis turntable adjustment strategy, the posture parameters corresponding to the collected calibration parameters are determined, and the posture parameters are applied to the three-axis turntable.

[0008] In one embodiment, before the step of sending the attitude parameters to the three-axis rotary table, the method further includes: Obtain the first communication protocol corresponding to the three-axis turntable and the second communication protocol corresponding to the UAV; Based on a pre-set protocol replacement strategy, the first communication protocol and the second communication protocol are replaced respectively to obtain the third communication protocol and the fourth communication protocol. A communication channel is established with the three-axis turntable based on the third communication protocol, and a communication channel is established with the UAV based on the fourth communication protocol.

[0009] In one embodiment, the step of replacing the first communication protocol and the second communication protocol respectively based on a pre-set protocol replacement strategy to obtain the third communication protocol and the fourth communication protocol further includes: Determine the instruction format and instruction parsing logic corresponding to the first communication protocol, adjust the instruction format and instruction parsing logic based on the protocol replacement strategy, and obtain the third communication protocol based on the adjusted instruction format and adjusted instruction parsing logic; The data packet generation logic and data packet parsing logic corresponding to the second communication protocol are determined. Based on the protocol replacement strategy, the data packet generation logic and the data packet parsing logic are adjusted. Based on the adjusted data packet generation logic and the data packet parsing logic, the fourth communication protocol is obtained.

[0010] To achieve the above objectives, this application proposes a magnetic compass calibration method applied to a three-axis rotary table. The magnetic compass calibration method includes: Receive attitude parameters sent by the host computer, and adjust the attitude of the turntable based on the attitude parameters to adjust the attitude of the UAV. If the attitude adjustment is complete, the attitude adjustment completion command is sent to the host computer so that the host computer can send a parameter reading command to the UAV based on the attitude adjustment completion command.

[0011] To achieve the above objectives, this application proposes a magnetic compass calibration method for use in unmanned aerial vehicles (UAVs). The magnetic compass calibration method includes: Receive the read parameter command sent by the host computer based on the attitude adjustment completion command, and read the parameters collected by the UAV sensor based on the read parameter command to obtain the calibration parameters; The calibration parameters are sent to the host computer so that the host computer can perform magnetic compass calibration based on the calibration parameters.

[0012] Furthermore, to achieve the above objectives, this application also proposes a magnetic compass calibration device for use on a host computer, the magnetic compass calibration device comprising: The determination module is used to determine the calibration parameters to be collected in response to the magnetic compass calibration command, and to determine the attitude parameters corresponding to the collected calibration parameters. A first transmitting module is used to transmit the attitude parameters to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable. The first receiving module is used to receive the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed. The second sending module is used to send a read parameter command to the UAV terminal based on the attitude adjustment completion command, so that the UAV can read the parameters collected by the UAV sensor based on the read parameter command and obtain the calibration parameters. The second receiving module is used to receive calibration parameters sent by the UAV based on the read parameter command, and to perform magnetic compass calibration based on the calibration parameters.

[0013] In one embodiment, the determining module further includes: The first determining unit is used to determine the UAV attitude corresponding to the collected calibration parameters; The second determining unit is used to determine the turntable attitude of the three-axis turntable corresponding to the collected calibration parameters based on the attitude of the UAV, wherein the attitude of the UAV is consistent with the turntable attitude of the three-axis turntable. The third determining unit is used to determine the attitude parameters corresponding to the collected calibration parameters based on the turntable attitude of the three-axis turntable and the preset three-axis turntable adjustment strategy. The attitude parameters are applied to the three-axis turntable.

[0014] In one embodiment, the magnetic compass calibration device further includes a replacement module, which in turn includes: The acquisition unit is used to acquire the first communication protocol corresponding to the three-axis turntable and the second communication protocol corresponding to the UAV. The replacement unit is used to replace the first communication protocol and the second communication protocol respectively based on a pre-set protocol replacement strategy to obtain the third communication protocol and the fourth communication protocol. The establishment unit is used to establish a communication channel with the three-axis turntable based on the third communication protocol, and to establish a communication channel with the UAV based on the fourth communication protocol.

[0015] In one embodiment, the replacement module further includes: The fourth determining unit is used to determine the instruction format and instruction parsing logic corresponding to the first communication protocol, adjust the instruction format and instruction parsing logic based on the protocol replacement strategy, and obtain the third communication protocol based on the adjusted instruction format and adjusted instruction parsing logic. The fifth determining unit is used to determine the data packet generation logic and data packet parsing logic corresponding to the second communication protocol, adjust the data packet generation logic and the data packet parsing logic based on the protocol replacement strategy, and obtain the fourth communication protocol based on the adjusted data packet generation logic and the data packet parsing logic.

[0016] Furthermore, to achieve the above objectives, this application also proposes a magnetic compass calibration device for use on a three-axis rotary table, the magnetic compass calibration device comprising: The third receiving module is used to receive attitude parameters sent by the host computer and adjust the attitude of the turntable based on the attitude parameters in order to adjust the attitude of the UAV. The third sending module is used to send an attitude adjustment completion command to the host computer if the attitude adjustment is completed, so that the host computer can send a read parameter command to the UAV based on the attitude adjustment completion command.

[0017] Furthermore, to achieve the above objectives, this application also proposes a magnetic compass calibration device for use in unmanned aerial vehicles (UAVs), the magnetic compass calibration device comprising: The fourth receiving module is used to receive the read parameter command sent by the host computer based on the attitude adjustment completion command, and read the parameters collected by the UAV sensor based on the read parameter command to obtain the calibration parameters. The fourth sending module is used to send the calibration parameters to the host computer so that the host computer can perform magnetic compass calibration based on the calibration parameters.

[0018] In addition, to achieve the above objectives, this application also proposes a magnetic compass calibration device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the magnetic compass calibration method as described above.

[0019] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the magnetic compass calibration method described above.

[0020] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the magnetic compass calibration method described above.

[0021] One or more technical solutions proposed in this application have at least the following technical effects: This application proposes a magnetic compass calibration method and related equipment, relating to the field of UAV navigation technology. In related technologies, ground stations are typically used to read data collected by UAV sensors under different attitudes. However, this process still requires manual adjustment of the UAV's attitude. Even when using a three-axis turntable, the ground station cannot be linked with the turntable, requiring manual setting of the turntable's attitude. This manual adjustment method is not only inefficient but also prone to errors, resulting in low magnetic compass calibration efficiency and a poor user experience. In contrast, this application first determines the calibration parameters to be collected in response to a magnetic compass calibration command, and then determines the corresponding parameters for the collected calibration parameters. The attitude parameters are obtained, and then the attitude parameters are sent to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters. The UAV is fixed on the turntable. Further, the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed is received. Further, based on the attitude adjustment completion command, a parameter reading command is sent to the UAV so that the UAV can read the parameters collected by the UAV sensors and obtain calibration parameters. Finally, the calibration parameters sent by the UAV based on the parameter reading command are received, and magnetic compass calibration is performed based on the calibration parameters.

[0022] Understandably, this application establishes a host computer terminal that communicates with the three-axis turntable and the drone. Based on the data acquisition requirements, it automatically generates instructions to adjust the attitude of the three-axis turntable, thereby automatically adjusting the attitude of the drone without manual adjustment. This improves the efficiency of magnetic compass data acquisition, thereby improving the calibration efficiency of the magnetic compass and enhancing the user experience. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1This is a flowchart illustrating an embodiment of the magnetic compass calibration method of this application. Figure 2 This is a flowchart illustrating Embodiment 2 of the magnetic compass calibration method of this application. Figure 3 This is a flowchart illustrating Embodiment 3 of the magnetic compass calibration method of this application. Figure 4 This is a schematic diagram of the module structure of the magnetic compass calibration device according to an embodiment of this application; Figure 5 This is a schematic diagram of the hardware operating environment involved in the magnetic compass calibration method in this application embodiment.

[0026] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0028] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0029] The main solution in this application embodiment is: In this embodiment, for ease of description, the magnetic compass calibration device will be used as the subject of the description.

[0030] Due to the limitations of current technology, ground stations typically read data collected by drone sensors at different attitudes. However, this process still requires manual adjustment of the drone's attitude. Even with a three-axis turntable, the ground station cannot coordinate with the turntable, necessitating manual setting of the turntable's attitude. This manual adjustment method is not only inefficient but also prone to errors, resulting in low magnetic compass calibration efficiency and a poor user experience.

[0031] This application provides a solution in which: first, in response to a magnetic compass calibration command, the calibration parameters to be collected are determined, and the attitude parameters corresponding to the collected calibration parameters are determined; then, the attitude parameters are sent to a three-axis turntable, so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable; further, an attitude adjustment completion command is received from the three-axis turntable after the attitude adjustment is completed; further, based on the attitude adjustment completion command, a parameter reading command is sent to the UAV, so that the UAV can read the parameters collected by the UAV sensors based on the parameter reading command to obtain the calibration parameters; finally, the calibration parameters sent by the UAV based on the parameter reading command are received, and magnetic compass calibration is performed based on the calibration parameters.

[0032] Understandably, this application establishes a host computer terminal that communicates with the three-axis turntable and the drone. Based on the data acquisition requirements, it automatically generates instructions to adjust the attitude of the three-axis turntable, thereby automatically adjusting the attitude of the drone without manual adjustment. This improves the efficiency of magnetic compass data acquisition, thereby improving the calibration efficiency of the magnetic compass and enhancing the user experience.

[0033] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or magnetic compass calibration device capable of performing the above functions. The following description uses a magnetic compass calibration device as an example to illustrate this embodiment and the subsequent embodiments.

[0034] Based on this, this application provides a magnetic compass calibration method, applied to a host computer, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the magnetic compass calibration method of this application.

[0035] In this embodiment, the magnetic compass calibration method includes steps A100~A500: Step A100: In response to the magnetic compass calibration command, determine the calibration parameters to be collected, and determine the attitude parameters corresponding to the collected calibration parameters; It should be noted that the magnetic compass calibration command is a signal or command that triggers the drone to perform magnetic compass calibration. Users can manually initiate this command through the drone's remote controller, ground control station software, or the drone's own settings menu. For example, if a user discovers that the drone's magnetic compass data is inaccurate before flight, they can initiate the calibration command by clicking the "Calibrate Magnetic Compass" button on the host computer software.

[0036] Furthermore, upon receiving this instruction, the drone begins executing a series of calibration operations. This typically includes prompting the user for the next step or automatically entering calibration mode.

[0037] It should be noted that calibration parameters refer to specific data used to calibrate a magnetic compass. In a drone, calibration parameters may include the magnetic compass offset, sensitivity, noise level, etc. Specifically, the drone needs to collect magnetic field strength readings of the magnetic compass in different directions to calculate the magnetic compass offset and sensitivity.

[0038] In this embodiment, the drone determines which parameters need to be collected through internal algorithms or preset rules. For example, the drone may need to collect magnetic compass readings in multiple different directions to ensure the accuracy of the calibration.

[0039] It should be noted that attitude parameters refer to the drone's attitude information during calibration parameter collection, such as the drone's tilt angle and rotation angle. Attitude parameters are typically provided by the drone's accelerometer and gyroscope. When collecting calibration parameters, the drone's specific attitude needs to be recorded. For example, the drone may need to collect magnetic compass data in different attitudes, such as horizontal, vertical, and tilted.

[0040] Specifically, the drone acquires its current attitude parameters using sensors such as accelerometers and gyroscopes, and correlates them with the collected calibration parameters. This allows the drone to know the specific readings of the magnetic compass at each attitude, enabling it to calculate the calibration parameters more accurately.

[0041] For example, suppose a user needs to calibrate a drone's magnetic compass. First, the user clicks the "Calibrate Magnetic Compass" button via the host computer software. Upon receiving this command, the drone enters calibration mode and prompts the user for the next step. Further, based on the drone's internal algorithm, the necessary calibration parameters are determined, such as the magnetic compass's magnetic field strength readings in different directions (e.g., the magnetic field strength along the X, Y, and Z axes). Based on these calibration parameters, the drone prompts the user to rotate the drone in a full circle at different attitudes (e.g., horizontal, vertical, tilt). At each attitude, the drone's accelerometer and gyroscope record the current attitude parameters (e.g., tilt angle, rotation angle). Simultaneously, the magnetic compass records the magnetic field strength readings at these attitudes.

[0042] At each attitude, the drone's accelerometer and gyroscope record the current attitude parameters, which are used together with the magnetic compass readings to calculate calibration parameters. For example, if the magnetic compass reading deviates from the actual magnetic field direction in a horizontal attitude, the drone can use this data to calculate the offset and adjust the magnetic compass calibration parameters to ensure that the magnetic compass can accurately measure the magnetic field direction in all attitudes.

[0043] Understandably, the magnetic compass calibration process involves collecting specific calibration parameters and corresponding attitude parameters. This process ensures that the UAV can accurately measure the magnetic field direction under different attitudes, thereby improving flight safety and reliability.

[0044] Specifically, the step of determining the attitude parameters corresponding to the collected calibration parameters further includes steps A110 to A130: Step A110: Determine the UAV attitude corresponding to the collected calibration parameters; It should be noted that before collecting calibration parameters (such as magnetic compass calibration parameters), the corresponding UAV attitude needs to be determined. The UAV's attitude is typically described by the angles of its three axes (pitch, roll, and yaw). The purpose of this step is to record the specific attitude of the UAV when collecting the calibration parameters.

[0045] Step A120: Based on the UAV attitude, determine the turntable attitude of the three-axis turntable corresponding to the collected calibration parameters, wherein the attitude of the UAV is consistent with the turntable attitude of the three-axis turntable. It should be noted that the angles of the three axes of the three-axis turntable must perfectly match the angles of the three axes of the drone. This is to ensure that calibration is performed under the same attitude conditions, guaranteeing calibration accuracy.

[0046] Step A130: Based on the turntable attitude of the three-axis turntable and the preset three-axis turntable adjustment strategy, determine the attitude parameters corresponding to the collected calibration parameters, and apply the attitude parameters to the three-axis turntable.

[0047] Based on the above adjustment strategy, the attitude parameters that need to be adjusted next are calculated (adjusting the UAV's attitude from its current attitude to the UAV attitude corresponding to the collected calibration parameters). These attitude parameters include the specific values ​​of the pitch angle, roll angle, and yaw angle of the three-axis turntable.

[0048] Furthermore, the calculated attitude parameters are applied to the three-axis rotary table to adjust it to a new attitude. This new attitude will be used for the next step of calibration parameter acquisition.

[0049] Step A200: The attitude parameters are sent to the three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters. The UAV is fixed on the turntable of the three-axis turntable. A three-axis turntable is a device that can precisely control the rotation of a drone on three axes (pitch, yaw, and roll). Three-axis turntables are used to precisely control the attitude of a drone for various tests and calibrations.

[0050] In this embodiment, the host computer sends the recorded attitude parameters to the three-axis turntable. These attitude parameters tell the turntable what attitude the drone needs to be adjusted to. After receiving the attitude parameters, the turntable adjusts the drone's attitude accordingly. These attitude parameters represent the actual attitude of the drone when collecting calibration parameters, and the turntable needs to adjust the drone to these attitudes for further calibration or testing.

[0051] A three-axis turntable, through its motors and control system, precisely adjusts the drone's position on three axes to achieve a specified attitude. For example, if attitude parameters indicate that the drone needs calibration in a horizontal attitude, the three-axis turntable will adjust the drone to a horizontal position.

[0052] It should be noted that the drone is fixed to the turntable of the three-axis turntable to ensure that the drone does not move or shake when adjusting its attitude. This is usually achieved through mechanical clamps or fixing devices.

[0053] It should be noted that the turntable of the three-axis turntable is the platform on which the drone is placed. It can rotate around three axes to achieve precise attitude adjustment.

[0054] Understandably, in this embodiment, the attitude of the UAV is precisely controlled by a three-axis turntable to perform the magnetic compass calibration process. This process ensures that the UAV can accurately measure the magnetic field direction under different attitudes, thereby improving flight safety and reliability.

[0055] Specifically, before the step of sending the attitude parameters to the three-axis rotary table, steps A210 to A230 are also included: Step A210: Obtain the first communication protocol corresponding to the three-axis turntable and the second communication protocol corresponding to the UAV; In this embodiment, the first step is to determine the communication protocol used by the three-axis rotary table. A communication protocol refers to the rules and standards followed when data is transmitted between devices. Different devices may use different communication protocols, such as serial communication protocols (e.g., RS-232) and Ethernet protocols (e.g., TCP / IP).

[0056] Similarly, it is also necessary to determine the communication protocol used by the drone. Drones may use different communication protocols, such as Wi-Fi, Bluetooth, or custom wireless communication protocols.

[0057] The purpose of this step is to clarify the communication protocols used by the two devices (the three-axis turntable and the drone) so that protocol conversion can be performed later.

[0058] Step A220: Based on a pre-set protocol replacement strategy, replace the first communication protocol and the second communication protocol respectively to obtain the third communication protocol and the fourth communication protocol; A pre-defined protocol replacement strategy is a set of rules or algorithms used to convert one communication protocol to another. This strategy may include mapping tables, conversion algorithms, etc., to ensure that data can be transmitted correctly between different protocols.

[0059] In this embodiment, according to this strategy, the first communication protocol of the three-axis turntable and the second communication protocol of the UAV are respectively converted into new communication protocols. These converted communication protocols are referred to as the third and fourth communication protocols, respectively. These two new protocols, after conversion, enable effective communication between the two devices.

[0060] Specifically, the step of replacing the first communication protocol and the second communication protocol respectively to obtain the third communication protocol and the fourth communication protocol based on a pre-set protocol replacement strategy further includes steps A221 to A222: Step A221: Determine the instruction format and instruction parsing logic corresponding to the first communication protocol; adjust the instruction format and instruction parsing logic based on the protocol replacement strategy; and obtain the third communication protocol based on the adjusted instruction format and adjusted instruction parsing logic. Instruction format refers to the specific structure of instructions transmitted between devices, including the instruction length, start bit, end bit, and data fields. For example, an instruction may consist of a start bit, an instruction code, a data field, and a check bit.

[0061] Command parsing logic refers to how a device parses received commands, including how to identify the different parts of the command and how to verify its correctness. For example, the device may need to check whether the checksum of the command is correct and whether the command code is valid.

[0062] A protocol substitution strategy is a predefined rule or algorithm used to convert the instruction format and parsing logic of one communication protocol into the format and logic of another. This strategy may include mapping tables, conversion algorithms, etc.

[0063] In this embodiment, according to the protocol replacement strategy, the instruction format and parsing logic of the first communication protocol are adjusted to make it compatible with the target protocol. The adjusted instruction format and parsing logic together constitute a new communication protocol, namely the third communication protocol. This new protocol enables effective communication between the three-axis rotary table and the control terminal.

[0064] Step A222: Determine the data packet generation logic and data packet parsing logic corresponding to the second communication protocol; adjust the data packet generation logic and data packet parsing logic based on the protocol replacement strategy; and obtain the fourth communication protocol based on the adjusted data packet generation logic and data packet parsing logic.

[0065] The data packet generation logic refers to how a device generates data packets, including how it organizes the data, adds header and trailer information, and encrypts the data. For example, a data packet may consist of a header (containing source address, destination address, etc.), a data payload, and a trailer (containing checksum information).

[0066] Data packet parsing logic refers to how a device parses received data packets, including how to identify the different parts of the data packet and how to verify its correctness. For example, a device may need to check whether the data packet's checksum information is correct and whether the header information is valid.

[0067] In this embodiment, the data packet generation and parsing logic of the second communication protocol is adjusted according to the protocol replacement strategy to make it compatible with the target protocol. The adjusted data packet generation and parsing logic together constitute a new communication protocol, namely the fourth communication protocol. This new protocol enables effective communication between the UAV and the control terminal.

[0068] Understandably, these steps convert different communication protocols into a common one, enabling effective communication between devices. This is crucial for complex system integration and automated control, ensuring seamless communication between different devices.

[0069] Step A230: Establish a communication channel with the three-axis turntable based on the third communication protocol, and establish a communication channel with the UAV based on the fourth communication protocol.

[0070] In this embodiment, a communication connection with the three-axis rotary table is established using a converted third communication protocol. This communication channel allows data to be transmitted between the control unit and the three-axis rotary table.

[0071] Similarly, a communication connection with the drone is established using the converted fourth communication protocol. This communication channel allows data to be transmitted between the control unit and the drone.

[0072] Understandably, by establishing these two communication channels, the control unit can communicate with both the three-axis turntable and the drone simultaneously, thereby enabling control and data acquisition of them.

[0073] Step A300: Receive the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed; It should be noted that attitude adjustment completion means that the three-axis turntable has adjusted the drone to the specified attitude based on the received attitude parameters. For example, if the attitude parameters indicate that the drone needs to be calibrated in a horizontal attitude, the three-axis turntable will adjust the drone to a horizontal position.

[0074] The attitude adjustment complete command is a specific signal or message indicating that the three-axis rotary table has completed attitude adjustment. This command typically contains some basic information, such as whether the adjustment was successful and the current attitude.

[0075] Understandably, during the UAV magnetic compass calibration process, the three-axis turntable sends an "attitude adjustment complete command" to the UAV or ground control station after completing attitude adjustment. The main purpose of this command is to confirm that attitude adjustment is complete, allowing the host computer to proceed with further operations, such as starting the magnetic compass calibration program or prompting the user for further instructions. This process ensures the accuracy and reliability of the calibration process.

[0076] Step A400: Based on the attitude adjustment completion command, a read parameter command is sent to the UAV terminal so that the UAV can read the parameters collected by the UAV sensors based on the read parameter command and obtain the calibration parameters. In this embodiment, the parameter reading command is sent to the drone through some communication method (such as wireless communication).

[0077] The parameter read command is a command that instructs the drone to read certain parameters. These parameters can be data collected by various sensors, such as position, speed, and angle.

[0078] It should be noted that various sensors on the drone (such as gyroscopes, accelerometers, GPS, etc.) collect various data, and the drone uses the parameter reading command to obtain the data collected by these sensors.

[0079] These parameters read from the sensors are used for calibration (i.e., calibration parameters). Calibration refers to adjusting the drone's magnetic compass to make its measurements or operations more accurate. These parameters may be used to calibrate errors in the sensors themselves or to adjust the drone's flight control system for more stable and accurate flight.

[0080] Understandably, this process is designed to ensure that the drone's sensors and flight control system function accurately, thereby improving flight safety and reliability.

[0081] Step A500: Receive calibration parameters sent by the UAV based on the read parameter command, and perform magnetic compass calibration based on the calibration parameters.

[0082] In this embodiment, after executing the parameter reading command, the drone reads some data from its sensors (such as a magnetic compass, gyroscope, etc.) and sends this data back to the host computer. This data is called "calibration parameters" because it will be used in subsequent calibration operations.

[0083] Furthermore, the host computer uses these calibration parameters to adjust the magnetic compass settings, enabling it to measure direction more accurately. Magnetic compass calibration is a crucial step in UAV operation because the accuracy of the magnetic compass directly affects the UAV's navigation and flight direction control.

[0084] This application proposes a magnetic compass calibration method and related equipment, relating to the field of UAV navigation technology. In related technologies, ground stations are typically used to read data collected by UAV sensors under different attitudes. However, this process still requires manual adjustment of the UAV's attitude. Even when using a three-axis turntable, the ground station cannot be linked with the turntable, requiring manual setting of the turntable's attitude. This manual adjustment method is not only inefficient but also prone to errors, resulting in low magnetic compass calibration efficiency and a poor user experience. In contrast, this application first determines the calibration parameters to be collected in response to a magnetic compass calibration command, and then determines the corresponding parameters for the collected calibration parameters. The attitude parameters are obtained, and then the attitude parameters are sent to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters. The UAV is fixed on the turntable. Further, the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed is received. Further, based on the attitude adjustment completion command, a parameter reading command is sent to the UAV so that the UAV can read the parameters collected by the UAV sensors and obtain calibration parameters. Finally, the calibration parameters sent by the UAV based on the parameter reading command are received, and magnetic compass calibration is performed based on the calibration parameters.

[0085] Understandably, this application establishes a host computer terminal that communicates with the three-axis turntable and the drone. Based on the data acquisition requirements, it automatically generates instructions to adjust the attitude of the three-axis turntable, thereby automatically adjusting the attitude of the drone without manual adjustment. This improves the efficiency of magnetic compass data acquisition, thereby improving the calibration efficiency of the magnetic compass and enhancing the user experience.

[0086] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. On this basis, the embodiments of this application provide a magnetic compass calibration method applied to a three-axis rotary table, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the magnetic compass calibration method of this application.

[0087] In this embodiment, the magnetic compass calibration method includes steps B100~B200: Step B100: Receive attitude parameters sent by the host computer, and adjust the attitude of the turntable based on the attitude parameters to adjust the attitude of the UAV. Attitude parameters describe the specific attitude that the UAV needs to achieve, and typically include pitch, roll, and yaw.

[0088] In this embodiment, the three-axis turntable receives these attitude parameters sent by the host computer through a communication channel. Based on the received attitude parameters, the three-axis turntable adjusts the angles of its three axes (pitch, roll, and yaw). Each axis of the three-axis turntable has a motor or other drive device, allowing for precise angle control. Three-axis turntables are typically used to fix drones in place; by adjusting the turntable's attitude, the drone's attitude is indirectly adjusted. This ensures that the drone can perform calibration or other operations in a specific attitude.

[0089] Step B200: If the attitude adjustment is completed, send the attitude adjustment completion command to the host computer so that the host computer can send a read parameter command to the UAV based on the attitude adjustment completion command.

[0090] After the three-axis rotary table completes the attitude adjustment, there will be a confirmation mechanism to verify whether the attitude has been adjusted to the specified angle. This may be done through sensor feedback or internal logic.

[0091] The attitude adjustment completion command is a signal or command indicating that the three-axis rotary table has successfully adjusted to the specified attitude. The three-axis rotary table sends this command back to the host computer via the communication channel.

[0092] Furthermore, after receiving the attitude adjustment completion command from the three-axis turntable, the host computer confirms that the attitude adjustment is complete. Based on the attitude adjustment completion command, the host computer sends a parameter read command to the drone. This command instructs the drone to read parameters from its sensors for the current attitude, such as magnetic compass data and accelerometer data. These parameters will be used for subsequent calibration or other operations to ensure the accuracy of the drone's sensor data for the current attitude.

[0093] Understandably, this process ensures that the drone is calibrated or operated in a specific attitude, thereby improving the drone's flight performance and reliability.

[0094] Based on the first and second embodiments of this application, in the third embodiment of this application, the content that is the same as or similar to that in embodiments one and two above can be referred to the above description, and will not be repeated hereafter. On this basis, this application provides a magnetic compass calibration method applied to a drone, referring to... Figure 3 , Figure 3 This is a flowchart illustrating the second embodiment of the magnetic compass calibration method of this application.

[0095] In this embodiment, the magnetic compass calibration method includes steps C100~C200: Step C100: Receive the read parameter command sent by the host computer based on the attitude adjustment completion command; based on the read parameter command, read the parameters collected by the UAV sensors to obtain the calibration parameters. The attitude adjustment complete command is a signal indicating that the three-axis rotary table has been successfully adjusted to the specified attitude.

[0096] The read parameters command is a command that instructs the drone to read parameters from its sensors for the current attitude.

[0097] In this embodiment, the drone receives the reading parameter command sent by the host computer through the communication channel.

[0098] Drone sensors refer to the various sensors on a drone, such as magnetic compasses, accelerometers, and gyroscopes.

[0099] The parameters collected refer to the data collected by the sensor in the current attitude, such as the magnetic field strength of the magnetic compass and the acceleration value of the accelerometer.

[0100] In this embodiment, the drone reads this data from its sensors according to the received read parameter instructions.

[0101] Calibration parameters refer to the sensor data that has been read, which will be used for subsequent calibration operations. These parameters reflect the actual measurements of the UAV in its current attitude.

[0102] Step C200: Send the calibration parameters to the host computer so that the host computer can perform magnetic compass calibration based on the calibration parameters.

[0103] In this embodiment, the drone sends the read calibration parameters back to the host computer through the communication channel.

[0104] Furthermore, the host computer uses the received calibration parameters to adjust the magnetic compass settings, enabling it to measure direction more accurately. Magnetic compass calibration is a crucial step in ensuring the accuracy of the UAV navigation system.

[0105] Understandably, through this process, the parameters collected by the drone in a specific attitude are used to calibrate the magnetic compass, thereby improving the drone's navigation accuracy and flight safety.

[0106] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the magnetic compass calibration method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0107] It should be noted that all user-related data involved in this application (such as user attribute data, user behavior data, and user geographical location, etc., the data types here should be modified according to the adaptability of the solution content) were obtained with the user's permission or consent; that is to say, when this application is applied to specific products or technologies, user permission is required to obtain and process the relevant data, and the processing of the relevant data must comply with the relevant laws, regulations and regulatory standards of the relevant countries and regions.

[0108] For example, when it is necessary to obtain a user's current geographical location, a location acquisition prompt can be displayed on the user's terminal. After receiving confirmation from the user regarding the location acquisition prompt, the terminal can obtain the user's current geographical location.

[0109] This application also provides a magnetic compass calibration device for use on a host computer. Please refer to [reference needed]. Figure 4 The magnetic compass calibration device includes: The determination module 10 is used to determine the calibration parameters to be collected in response to the magnetic compass calibration command, and to determine the attitude parameters corresponding to the collected calibration parameters. First sending module 20, the first sending module is used to send the attitude parameters to the three-axis turntable, so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable; First receiving module 30, the first receiving module is used to receive the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed; The second sending module 40 is used to send a read parameter command to the UAV terminal based on the attitude adjustment completion command, so that the UAV can read the parameters collected by the UAV sensor based on the read parameter command and obtain the calibration parameters. The second receiving module 50 is used to receive calibration parameters sent by the UAV based on the read parameter command, and to perform magnetic compass calibration based on the calibration parameters.

[0110] In one embodiment, the determining module further includes: The first determining unit is used to determine the UAV attitude corresponding to the collected calibration parameters; The second determining unit is used to determine the turntable attitude of the three-axis turntable corresponding to the collected calibration parameters based on the attitude of the UAV, wherein the attitude of the UAV is consistent with the turntable attitude of the three-axis turntable. The third determining unit is used to determine the attitude parameters corresponding to the collected calibration parameters based on the turntable attitude of the three-axis turntable and the preset three-axis turntable adjustment strategy. The attitude parameters are applied to the three-axis turntable.

[0111] In one embodiment, the magnetic compass calibration device further includes a replacement module, which in turn includes: The acquisition unit is used to acquire the first communication protocol corresponding to the three-axis turntable and the second communication protocol corresponding to the UAV. The replacement unit is used to replace the first communication protocol and the second communication protocol respectively based on a pre-set protocol replacement strategy to obtain the third communication protocol and the fourth communication protocol. The establishment unit is used to establish a communication channel with the three-axis turntable based on the third communication protocol, and to establish a communication channel with the UAV based on the fourth communication protocol.

[0112] In one embodiment, the replacement module further includes: The fourth determining unit is used to determine the instruction format and instruction parsing logic corresponding to the first communication protocol, adjust the instruction format and instruction parsing logic based on the protocol replacement strategy, and obtain the third communication protocol based on the adjusted instruction format and adjusted instruction parsing logic. The fifth determining unit is used to determine the data packet generation logic and data packet parsing logic corresponding to the second communication protocol, adjust the data packet generation logic and the data packet parsing logic based on the protocol replacement strategy, and obtain the fourth communication protocol based on the adjusted data packet generation logic and the data packet parsing logic.

[0113] Furthermore, to achieve the above objectives, this application also proposes a magnetic compass calibration device for use on a three-axis rotary table, the magnetic compass calibration device comprising: The third receiving module is used to receive attitude parameters sent by the host computer and adjust the attitude of the turntable based on the attitude parameters in order to adjust the attitude of the UAV. The third sending module is used to send an attitude adjustment completion command to the host computer if the attitude adjustment is completed, so that the host computer can send a read parameter command to the UAV based on the attitude adjustment completion command.

[0114] Furthermore, to achieve the above objectives, this application also proposes a magnetic compass calibration device for use in unmanned aerial vehicles (UAVs), the magnetic compass calibration device comprising: The fourth receiving module is used to receive the read parameter command sent by the host computer based on the attitude adjustment completion command, and read the parameters collected by the UAV sensor based on the read parameter command to obtain the calibration parameters. The fourth sending module is used to send the calibration parameters to the host computer so that the host computer can perform magnetic compass calibration based on the calibration parameters.

[0115] The magnetic compass calibration device provided in this application, employing the magnetic compass calibration method described in the above embodiments, can solve the technical problem of magnetic compass calibration. Compared with related technologies, the beneficial effects of the magnetic compass calibration device provided in this application are the same as those of the magnetic compass calibration method provided in the above embodiments, and other technical features in the magnetic compass calibration device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0116] This application provides a magnetic compass calibration device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the magnetic compass calibration method in Embodiment 1 above.

[0117] The following is for reference. Figure 5 The diagram illustrates a structural schematic of a magnetic compass calibration device suitable for implementing embodiments of this application. The magnetic compass calibration device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 5 The magnetic compass calibration device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.

[0118] like Figure 5As shown, the magnetic compass calibration device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the magnetic compass calibration device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the magnetic compass calibration device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show magnetic compass calibration devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0119] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0120] The magnetic compass calibration device provided in this application, employing the magnetic compass calibration method described in the above embodiments, can solve the technical problems. Compared with related technologies, the beneficial effects of the magnetic compass calibration device provided in this application are the same as those of the magnetic compass calibration method provided in the above embodiments, and other technical features of this magnetic compass calibration device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0121] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0122] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0123] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the magnetic compass calibration method in the above embodiments.

[0124] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0125] The aforementioned computer-readable storage medium may be included in the magnetic compass calibration device; or it may exist independently and not assembled into the magnetic compass calibration device.

[0126] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the magnetic compass calibration device, cause the magnetic compass calibration device to: In response to the magnetic compass calibration command, determine the calibration parameters to be collected, and determine the attitude parameters corresponding to the collected calibration parameters; The attitude parameters are sent to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable; Receive the attitude adjustment completion command sent by the three-axis rotary table after the attitude adjustment is completed; Based on the attitude adjustment completion command, a read parameter command is sent to the UAV terminal, so that the UAV can read the parameters collected by the UAV sensors based on the read parameter command and obtain the calibration parameters. The system receives calibration parameters sent by the drone based on the read parameter command, and performs magnetic compass calibration based on the calibration parameters.

[0127] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0128] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0129] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0130] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described magnetic compass calibration method, thereby solving the technical problem of magnetic compass calibration. Compared with related technologies, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the magnetic compass calibration method provided in the above embodiments, and will not be repeated here.

[0131] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the magnetic compass calibration method described above.

[0132] The computer program product provided in this application can solve the technical problem of magnetic compass calibration. Compared with related technologies, the beneficial effects of the computer program product provided in this application are the same as those of the magnetic compass calibration method provided in the above embodiments, and will not be repeated here.

[0133] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A magnetic compass calibration method, characterized in that, The magnetic compass calibration method, applied to the host computer, includes: In response to the magnetic compass calibration command, determine the calibration parameters to be collected, and determine the attitude parameters corresponding to the collected calibration parameters; The attitude parameters are sent to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable; Receive the attitude adjustment completion command sent by the three-axis rotary table after the attitude adjustment is completed; Based on the attitude adjustment completion command, a read parameter command is sent to the UAV terminal, so that the UAV can read the parameters collected by the UAV sensors based on the read parameter command and obtain the calibration parameters. The system receives calibration parameters sent by the drone based on the read parameter command, and performs magnetic compass calibration based on the calibration parameters.

2. The magnetic compass calibration method as described in claim 1, characterized in that, The step of determining the attitude parameters corresponding to the collected calibration parameters further includes: Determine the UAV attitude corresponding to the collected calibration parameters; Based on the UAV attitude, the turntable attitude of the three-axis turntable corresponding to the collected calibration parameters is determined, and the attitude of the UAV is consistent with the turntable attitude of the three-axis turntable. Based on the turntable posture of the three-axis turntable and the preset three-axis turntable adjustment strategy, the posture parameters corresponding to the collected calibration parameters are determined, and the posture parameters are applied to the three-axis turntable.

3. The magnetic compass calibration method as described in claim 1, characterized in that, Before the step of sending the attitude parameters to the three-axis rotary table, the method further includes: Obtain the first communication protocol corresponding to the three-axis turntable and the second communication protocol corresponding to the UAV; Based on a pre-set protocol replacement strategy, the first communication protocol and the second communication protocol are replaced respectively to obtain the third communication protocol and the fourth communication protocol. A communication channel is established with the three-axis turntable based on the third communication protocol, and a communication channel is established with the UAV based on the fourth communication protocol.

4. The magnetic compass calibration method as described in claim 3, characterized in that, The step of replacing the first communication protocol and the second communication protocol respectively to obtain the third communication protocol and the fourth communication protocol based on a pre-set protocol replacement strategy further includes: Determine the instruction format and instruction parsing logic corresponding to the first communication protocol, adjust the instruction format and instruction parsing logic based on the protocol replacement strategy, and obtain the third communication protocol based on the adjusted instruction format and adjusted instruction parsing logic; The data packet generation logic and data packet parsing logic corresponding to the second communication protocol are determined. Based on the protocol replacement strategy, the data packet generation logic and the data packet parsing logic are adjusted. Based on the adjusted data packet generation logic and the data packet parsing logic, the fourth communication protocol is obtained.

5. A magnetic compass calibration method, characterized in that, The magnetic compass calibration method, applied to a three-axis rotary table, includes: Receive attitude parameters sent by the host computer, and adjust the attitude of the turntable based on the attitude parameters to adjust the attitude of the UAV. If the attitude adjustment is complete, the attitude adjustment completion command is sent to the host computer so that the host computer can send a parameter reading command to the UAV based on the attitude adjustment completion command.

6. A magnetic compass calibration method, characterized in that, The magnetic compass calibration method, applied to unmanned aerial vehicles (UAVs), includes: Receive the read parameter command sent by the host computer based on the attitude adjustment completion command, and read the parameters collected by the UAV sensor based on the read parameter command to obtain the calibration parameters; The calibration parameters are sent to the host computer so that the host computer can perform magnetic compass calibration based on the calibration parameters.

7. A magnetic compass calibration device, characterized in that, The magnetic compass calibration device includes: The determination module is used to determine the calibration parameters to be collected in response to the magnetic compass calibration command, and to determine the attitude parameters corresponding to the collected calibration parameters. A first transmitting module is used to transmit the attitude parameters to a three-axis turntable so that the three-axis turntable can adjust the attitude of the UAV based on the attitude parameters, and the UAV is fixed on the turntable of the three-axis turntable. The first receiving module is used to receive the attitude adjustment completion command sent by the three-axis turntable after the attitude adjustment is completed. The second sending module is used to send a read parameter command to the UAV terminal based on the attitude adjustment completion command, so that the UAV can read the parameters collected by the UAV sensor based on the read parameter command and obtain the calibration parameters. The second receiving module is used to receive calibration parameters sent by the UAV based on the read parameter command, and to perform magnetic compass calibration based on the calibration parameters.

8. A magnetic compass calibration device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the magnetic compass calibration method as described in any one of claims 1 to 6.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the magnetic compass calibration method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the magnetic compass calibration method as described in any one of claims 1 to 6.

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