Method and device for correcting compass deviation of airborne magnetic heading sensor

Abstract

The invention provides a compass deviation correction method and device for an airborne magnetic heading sensor, and the method comprises the following steps: 1), pulling an airplane to a designated correction place, and aligning the airplane to a 0-degree position of a ground magnetic heading; 2) in the process of rotating the airplane for one circle, acquiring magnetic heading data of the magnetic heading sensor when inertial navigation magnetic heading data are a plurality of preset angle points, and acquiring errors corresponding to each preset angle; and 3) when the airborne magnetic heading sensor is used, performing first-order linear interpolation on errors corresponding to two adjacent preset angles of the magnetic heading data to obtain errors corresponding to the magnetic heading data, and performing compass deviation correction according to the errors. While autonomy and real-time performance of magnetic data are ensured and a compass error correction function is realized, operation complexity is reduced, and workload and task time of maintenance personnel are reduced.

Description

Technical Field

[0001] This invention belongs to the field of airborne navigation technology, specifically relating to a method and device for correcting the compass deviation of an airborne magnetic heading sensor. Background Technology

[0002] Magnetic heading sensors are widely used in the navigation field to sense the Earth's magnetic field and calculate the aircraft's magnetic heading. They offer advantages such as autonomy, real-time performance, and low cost. Because magnetic heading sensors are sensitive to magnetism and can be affected by magnetic fields generated by various onboard devices, their installation should be chosen in locations with minimal onboard magnetic interference. After installation, compass correction should be performed to minimize magnetic field interference from onboard equipment.

[0003] The compass headroom correction process involves external operations, onboard operations, and algorithm correction. Traditional compass headroom correction methods are cumbersome. Taking the eight-point correction method as an example, after the aircraft is towed to a fixed correction location, external operations align the aircraft with eight points on the ground (0°, 45°, 90°, etc.). During alignment, onboard personnel perform calibration and confirmation operations on the magnetic heading sensor. The same operation needs to be repeated at each point, generally taking more than two hours. Therefore, while ensuring the autonomy and real-time nature of magnetic data and realizing the compass headroom error correction function, how to reduce the complexity of operations and the workload and task time of maintenance personnel is an indicator for evaluating the merits of compass headroom correction methods.

[0004] Patent CN115900770A proposes an online calibration method and system for magnetic sensors in airborne environments. The method utilizes multi-source navigation data fusion technology and a Kalman filter algorithm to combine various data from the integrated navigation system to obtain the corrected magnetic heading. However, this method makes the magnetic heading data overly reliant on the integrated navigation system's data, losing its autonomy. Furthermore, its high algorithm complexity can negatively impact real-time performance to some extent.

[0005] Patent CN114526756A proposes a method, device and storage medium for airborne multi-sensor correction of unmanned aerial vehicles (UAVs). The paper uses a multi-sensor correction method to establish three error models, perform three corrections, and finally obtain magnetic heading data. The operation process requires the UAV to rotate around the X, Y and Z axes. This method is not feasible for manned aircraft.

[0006] The patent CN116007600A proposes a compass calibration method based on multi-sensor fusion. This method requires rotating the aircraft clockwise twice. The first rotation yields the circumferential error, and the second rotation yields the first-order linear error. The operation process is rather cumbersome. Summary of the Invention

[0007] This invention provides a method and apparatus for correcting compass error in an airborne magnetic heading sensor. While ensuring the autonomy and real-time nature of magnetic data and realizing the compass error correction function, it reduces the complexity of operation and decreases the workload and task time of maintenance personnel.

[0008] The first aspect of this invention provides a method for correcting the compass error of an airborne magnetic heading sensor, comprising the following steps: 1) Pull the aircraft to the designated calibration location and align it with the ground magnetic heading 0° position; 2) During the process of rotating the aircraft once, the magnetic heading data of the magnetic heading sensor is obtained at multiple preset angle points when the inertial magnetic heading data is obtained, and the error corresponding to each preset angle is obtained. 3) When using the airborne magnetic heading sensor, first-order linear interpolation is performed on the error corresponding to two adjacent preset angles of the magnetic heading data to obtain the error corresponding to the magnetic heading data, and the error correction is performed based on the error.

[0009] Optionally, the magnetic heading data of the magnetic heading sensor is acquired at multiple preset angle points when the inertial navigation magnetic heading data is obtained, including: Acquire magnetic heading data from the magnetic heading sensor when the inertial navigation magnetic heading data is within a range of multiple preset angle points; The preset angle point range is ±0.05°.

[0010] Optionally, after obtaining the error corresponding to each preset angle, the method further includes: The errors corresponding to each preset angle are stored in the FLASH memory of the magnetic heading sensor.

[0011] Optionally, after step 1), the method further includes: Powering on the onboard magnetic heading sensor and inertial navigation system, the onboard display showed that the magnetic heading sensor and inertial navigation system were communicating normally.

[0012] Optionally, obtain the error corresponding to each preset angle, including: The error is obtained by subtracting the magnetic heading data from the magnetic heading sensor from the corresponding preset angle of the inertial navigation magnetic heading.

[0013] Optionally, multiple preset angle points are obtained by dividing 360° into eight, twenty-four, or thirty-six equal parts.

[0014] Optionally, after step 1), the method further includes: Operate the magnetic heading sensor on the airborne display to enter the compass correction state.

[0015] A second aspect of the present invention provides a compass error correction device for an airborne magnetic heading sensor, for performing the method as described in any one of the first aspects.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention proposes a method for correcting the compass error of an airborne magnetic heading sensor. It directly utilizes high-precision magnetic heading data from the airborne inertial navigation system for automatic correction of the sensor's compass error. Off-board operators only need to push the aircraft clockwise for one full revolution, while on-board operators only need to start and confirm the correction, significantly reducing the workload of maintenance personnel. Eight-point, twenty-four-point, and thirty-six-point corrections can be selected based on the required accuracy and algorithm complexity of the magnetic heading data, with first-order linear correction applied to the error. The correction data is stored in the magnetic heading sensor's processor FLASH, eliminating the need for external data during computation and ensuring the autonomy and real-time nature of the magnetic data. This invention utilizes high-precision magnetic heading data from the airborne inertial navigation system for compass error correction, greatly reducing the workload of maintenance personnel and saving mission time. Eight-point, twenty-four-point, and thirty-six-point corrections can be selected based on the required accuracy and algorithm complexity of the magnetic heading data, with first-order linear correction applied to the error. The calibration data is stored in the processor FLASH of the magnetic heading sensor, and no external data is required during the calculation, ensuring the autonomy and real-time nature of the magnetic data. Detailed Implementation

[0017] The embodiments of the present invention will be described in detail below.

[0018] This invention provides a method for correcting the compass error of an airborne magnetic heading sensor, comprising the following steps: 1) Pull the aircraft to the designated calibration location and align it with the ground magnetic heading 0° position; 2) During the process of rotating the aircraft once, the magnetic heading data of the magnetic heading sensor is obtained at multiple preset angle points when the inertial magnetic heading data is obtained, and the error corresponding to each preset angle is obtained. 3) When using the airborne magnetic heading sensor, first-order linear interpolation is performed on the error corresponding to two adjacent preset angles of the magnetic heading data to obtain the error corresponding to the magnetic heading data, and the error correction is performed based on the error.

[0019] Optionally, the magnetic heading data of the magnetic heading sensor is acquired at multiple preset angle points when the inertial navigation magnetic heading data is obtained, including: Acquire magnetic heading data from the magnetic heading sensor when the inertial navigation magnetic heading data is within a range of multiple preset angle points; The preset angle point range is ±0.05°.

[0020] Optionally, after obtaining the error corresponding to each preset angle, the method further includes: The errors corresponding to each preset angle are stored in the FLASH memory of the magnetic heading sensor.

[0021] Optionally, after step 1), the method further includes: Powering on the onboard magnetic heading sensor and inertial navigation system, the onboard display showed that the magnetic heading sensor and inertial navigation system were communicating normally.

[0022] Optionally, obtain the error corresponding to each preset angle, including: The error is obtained by subtracting the magnetic heading data from the magnetic heading sensor from the corresponding preset angle of the inertial navigation magnetic heading.

[0023] Optionally, multiple preset angle points are obtained by dividing 360° into eight, twenty-four, or thirty-six equal parts.

[0024] Optionally, after step 1), the method further includes: Operate the magnetic heading sensor on the airborne display to enter the compass correction state.

[0025] In a specific embodiment, the present invention provides a method for correcting the compass error of an airborne magnetic heading sensor, the algorithm principle and operation steps of which are as follows: 1) Pull the aircraft to the designated calibration location, align it with the ground magnetic heading 0° position, power on the onboard magnetic heading sensor and inertial navigation system, and the onboard display shows that the magnetic heading sensor and inertial navigation system are communicating normally; 2) On the airborne display, operate the magnetic heading sensor to enter the compass correction state, select "eight-point correction", "twenty-four-point correction" or "thirty-six-point correction", and then start the correction; 3) Taking the 24-point automatic calibration as an example, ground personnel rotate the aircraft clockwise one full revolution. During this process, the magnetic heading sensor performs error judgment and recording at 24 points where the inertial magnetic heading data is 0°, 15°, 30°, 45°, 60°, ..., 345° (it is impossible to receive accurate angle data; when the received inertial magnetic heading data is accurate to ±0.05°, it is considered that the angle data has been received). Specifically, when the inertial magnetic heading data is 0°, the difference between the magnetic heading data of the magnetic heading sensor and the inertial magnetic heading data is recorded as δ0; when the inertial magnetic heading data is 15°, the difference between the magnetic heading data of the magnetic heading sensor and the inertial magnetic heading data is recorded as δ1; ..., and so on, δ2 to δ 23 Record 24 errors into the processor's FLASH memory; 4) Onboard personnel confirm that the correction of the discrepancy has been completed; 5) When using it, perform first-order linear error calculation on the interval error. For example, if the magnetic heading sensor obtains magnetic heading data of 20°, and the error is between 15° and 30°, then take the error values ​​δ1 and δ2, and use the formula:

[0026] A magnetic heading error of 20° was obtained. The output will be 20°+ .

[0027] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method of correcting for the drift of an airborne magnetic heading sensor, characterized in that, The method comprises the following steps: 1) pull the aircraft to a designated correction site and align the ground magnetic heading 0° position; 2) obtain the magnetic heading data of the magnetic heading sensor at multiple preset angle points when the inertial navigation magnetic heading data is obtained during one rotation of the aircraft, and obtain the error corresponding to each preset angle; 3) when the on-board magnetic heading sensor is in use, perform first-order linear interpolation on the errors corresponding to two adjacent preset angles of the magnetic heading data to obtain the error corresponding to the magnetic heading data, and perform drift correction according to the error.

2. The method of correction of the deviation for the airborne magnetic heading sensor according to claim 1, characterized in that, The method for obtaining the magnetic heading data of the magnetic heading sensor at multiple preset angle points when the inertial navigation magnetic heading data is obtained comprises: obtaining the magnetic heading data of the magnetic heading sensor at multiple preset angle point ranges when the inertial navigation magnetic heading data is obtained; The preset angle point range is ±0.05° of the preset angle point.

3. The method of correction of the deviation for the onboard magnetic heading sensor according to claim 1, characterized in that, After obtaining the error corresponding to each preset angle, the method further comprises: storing the error corresponding to each preset angle in the FLASH of the magnetic heading sensor.

4. The method of correction of the deviation for the onboard magnetic heading sensor according to claim 1, characterized by that, After step 1), the method further comprises: powering on the on-board magnetic heading sensor and the inertial navigation system, and displaying the normal communication between the magnetic heading sensor and the inertial navigation system on the on-board display.

5. The method of correction of the deviation for the onboard magnetic heading sensor according to claim 1, characterized by that, The method for obtaining the error corresponding to each preset angle comprises: subtracting the magnetic heading data of the magnetic heading sensor from the corresponding inertial navigation magnetic heading preset angle to obtain the error.

6. The method of correcting for deviation of the onboard magnetic heading sensor according to claim 1, characterized in that, The multiple preset angle points are angle points obtained by equally dividing 360° into eight, twenty-four or thirty-six parts.

7. The method of correcting for deviation of the onboard magnetic heading sensor according to claim 1, characterized in that, After step 1), the method further comprises: operating the magnetic heading sensor into the drift correction state on the on-board display.

8. A device for correcting the deviation of a magnetic heading sensor on board a vehicle, characterized in that The method is used for performing the method as claimed in any one of claims 1-7.

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