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Method for calibrating electronic compass of unmanned machine under magnetic environment

A technology of electronic compass and calibration method, applied in directions such as compass, measuring device, surveying and navigation, etc., can solve problems such as reduced feasibility, and achieve the effect of low requirements, simplified calibration steps, and improved adaptability

Active Publication Date: 2012-07-18
WUXI HANHE AVIATION TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Feasibility decreases as drone weight and volume increase

Method used

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  • Method for calibrating electronic compass of unmanned machine under magnetic environment
  • Method for calibrating electronic compass of unmanned machine under magnetic environment
  • Method for calibrating electronic compass of unmanned machine under magnetic environment

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Embodiment Construction

[0037] The present invention will be described in detail below in conjunction with the implementations shown in the drawings, but it should be noted that these implementations are not limitations of the present invention, and those of ordinary skill in the art based on the functions, methods, or structural changes made by these implementations Equivalent transformations or substitutions all fall within the protection scope of the present invention.

[0038] The baseline for measuring the heading angle of the carrier by the electronic compass is the magnetic meridian (that is, the earth's magnetic longitude). When the electronic compass is installed on a carrier, such as a drone, due to the influence of ferromagnetic materials around the carrier, the direction of the magnetic field where the electronic compass is located is inconsistent with the direction of the geomagnetic field, causing heading measurement errors. The influence of this error includes the influence of hard mag...

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Abstract

The invention provides a method for calibrating an electronic compass of an unmanned machine under a magnetic environment, which comprises the following steps that: relative magnetic flux of an X-axis, a Y-axis and a Z-axis of the electronic compass is obtained through a magnetometer, ellipsoid fitting calibration on the magnetic flux is carried out after the filter processing, and calibration parameters are stored to a first storage device; an extreme value of the magnetic flux of the X-axis, the Y-axis and the Z-axis of the electronic compass is respectively obtained through the magnetometer, then ellipsoid fitting calibration on the extreme values is performed, and the calibration parameters are stored to a second storage device; obliquity data is obtained through an inertia navigation module, horizontal magnetic field strength Xh and Yh after being compensated are calculated according to the obliquity data and the calibration parameters of step 1 and step 2, so the magnetic interference calibration and obliquity calibration of the electronic compass can be completed. Due to the adoption of the calibration method, the adaptability of the electronic compass can be improved, and the calibration steps can be simplified; and the calibration is unnecessary to perform under the magnetic-free environment, so the requirement on the calibration equipment and the calibration environment is low.

Description

technical field [0001] The invention relates to an electronic compass correction method, in particular to an electronic compass correction method applied to an unmanned aerial vehicle in a magnetic environment. Background technique [0002] The electronic compass is a measurement sensor that uses the inherent directivity of the earth's magnetic field to measure the attitude angle of the carrier. It can measure the three-dimensional attitude data of the carrier, and is widely used in occasions where the attitude angle of the carrier needs to be obtained, such as: flight attitude control of manned or unmanned aerial vehicles, robot control, navigation and oil drilling, etc. [0003] The electronic compass has the advantages of small size, high heading accuracy, wide tilt range, high frequency response, and low power consumption. It is very suitable for occasions that have high requirements for heading accuracy and limit power consumption and volume, such as: drone or robot. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C17/38
Inventor 缪克钻黄海沈建平
Owner WUXI HANHE AVIATION TECH
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