Method for self-correcting course of depopulated vehicle based on magnetic course sensor

Abstract

The invention discloses a course self-correcting method for unmanned aerial vehicle and is based on a magnetic course sensor. The invention can be used for the course self-correcting of the unmanned aerial vehicle which can independently take off and land. A real heading angle can be got from the longitude and latitude information of two landmarks; a magnetic heading angle can be got by the magnetic course sensor; thus a magnetic variation of the location of an aerodrome can be got; the real heading angle of the aerial vehicle in the takeoff and landing process can be calculated at the real time. The invention provides a method with simple principles; no magnetic variation diagram is needed; the quantity of information for the operator of the unmanned aerial vehicle to know is lowered; the operation and control process is simplified.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle flight control, and specifically refers to an automatic course correction technology of an unmanned aerial vehicle based on a magnetic course sensor. Background technique [0002] The heading angle of an aircraft refers to the angle between the horizontal projection line of the longitudinal axis of the aircraft and a certain datum line on the horizontal plane. According to the different reference lines, the heading angle can be divided into true heading angle, magnetic heading angle, Luo heading angle, great circle heading angle and gyro heading angle and so on. Among them, the angle between the true meridian and the projection line of the longitudinal axis of the aircraft on the horizontal plane is called the true heading angle, which is an important flight parameter used to determine the heading of the aircraft and participate in closed-loop control, especially for autonomous take-off and ...

AI Technical Summary

Problems solved by technology

However, the magnetic variation of the earth will have different effects on the magnetic variation with the time and location. In the past flight process, the magnetic variation of a certain place was obtained by checking the magnetic variation map. Figure to obtain the magnetic difference value of the takeoff or landing place of the aircraft, and bind the data through the measurement and control link, and use the difference between the magnetic heading angle and the magnetic difference value to obtain the true heading angle of the aircraft. The process is cumbersome and the workload of the operator is heavy.

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