UAV Heading Validation Using Multi-Sensor Angle Comparison
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Solution Overview
Problem
Existing methods for determining the heading of unmanned aerial vehicles using electronic compasses or RTK systems are prone to errors due to interference, leading to inaccurate heading measurements.
Innovation Solution
A method that acquires heading angles from multiple sensing systems, compares the included angles between them, and validates the second heading angle against a preset threshold, replacing it with the first heading angle if invalid to ensure accurate navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If electronic compass is used to measure heading, then heading information can be obtained, but measurement accuracy deteriorates due to magnetic field interference
Solution Approach 1:
The patent combines multiple heading measurement systems (electronic compass, RTK, and inertial navigation) into a unified measurement framework. By merging these systems, the patent achieves both reliability (through multiple measurement channels) and precision (through cross-validation and error correction), resolving the contradiction between reliability and measurement precision.
Solution Approach 2:
The patent implements feedback mechanisms where the measured heading from electronic compass is continuously validated against expected values from other systems. When interference is detected (heading deviation exceeds threshold), the system provides feedback to switch to alternative measurement sources or correct the erroneous measurements, thereby maintaining both reliability and precision.
2Reliability
If RTK system is used to measure heading, then heading information can be obtained, but measurement accuracy deteriorates when satellite signals are insufficient
Solution Approach 1:
The patent merges RTK heading measurement with inertial navigation system (INS) and electronic compass data. When RTK satellite signals are insufficient, the system automatically transitions to or combines with INS and electronic compass measurements, maintaining both reliability and precision through multi-source integration.
Solution Approach 2:
The patent prepares alternative measurement solutions in advance by integrating multiple heading measurement systems. When RTK satellite signals become insufficient, the system already has pre-configured alternative sources (INS, electronic compass) ready to take over, cushioning against the loss of RTK precision without compromising reliability.
3Reliability
If single sensing system is used for heading measurement, then device complexity is reduced, but reliability deteriorates due to vulnerability to interference
Solution Approach 1:
The patent makes the heading measurement system universal by designing it to automatically select and switch between different measurement sources (electronic compass, RTK, INS) based on their availability and reliability. This multi-functionality approach increases reliability without proportionally increasing complexity, as the system uses a standardized framework for managing multiple sensors.
Solution Approach 2:
The patent implements dynamic characteristics in the sensing system by enabling real-time switching between different measurement sources based on environmental conditions and system state. This dynamic adaptation allows the system to maintain high reliability while managing complexity through intelligent, condition-based sensor selection rather than permanently activating all sensors.
4Reliability
If electronic compass measures heading in strong magnetic field, then heading information is obtained, but measurement precision deteriorates due to sudden heading jumps
Solution Approach 1:
The patent implements feedback validation where the electronic compass heading measurement is continuously checked against the expected heading from inertial navigation and RTK systems. When sudden heading jumps are detected (indicating strong magnetic field interference), the feedback mechanism triggers a switch to alternative measurement sources or applies correction algorithms, maintaining both reliability and precision in challenging magnetic environments.
Solution Approach 2:
The patent introduces intermediary systems (inertial navigation and RTK) that mediate between the electronic compass and the final heading output. When the electronic compass is affected by strong magnetic fields causing sudden jumps, these intermediary systems provide stable reference values that mediate the correction or replacement of erroneous electronic compass measurements, preserving reliability and precision.
Data Source
AI summary
A method for determining the heading of an unmanned aerial vehicle and an unmanned aerial vehicle are provided. The method includes: acquiring a first heading angle of an unmanned aerial vehicle by means of a first sensing system, and acquiring a second heading angle of the unmanned aerial vehicle by means of a second sensing system (S102); judging whether the second heading angle is valid according to a comparing result (S104); and if the second heading angle is invalid, determining the first heading angle as a current heading angle of the unmanned aerial vehicle (S106).