Calibration method for acceleration meter of unmanned aerial vehicle based on LM algorithm

Abstract

The invention belongs to the technical field of unmanned aerial vehicles and discloses a calibration method for an acceleration meter of an unmanned aerial vehicle based on an LM algorithm. The methodcomprises the steps that three calibration factors are selected and are equal to 1, other nine unknown factors are equal to 0, epsilon is 6-10, lambda is 0.1, and mu is 10; a formula shown in the description is calculated to construct a damping equation; an increment delta is solved that the obtained formula. According to the calibration method for the acceleration meter of the unmanned aerial vehicle, a rotation table with high precision and GPS information are not needed for use, and the acceleration meter can be calibrated anytime indoors, outdoors and on occasions with / without the rotation table; in addition, the error source of the acceleration meter is sufficiently considered by the method, a comprehensive error model is established, and accordingly the calibration precision is guaranteed; a filtering algorithm is used for filtering out data in the calibration process, and disturbance of random errors is avoided; an optimized iterative algorithm is used when a calibration coefficient is solved, the calculation amount is reduced, and the calibration time is shortened.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method for calibrating an accelerometer of an unmanned aerial vehicle based on an LM algorithm. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: [0003] Three-axis MEMS accelerometers are small, lightweight, and inexpensive. At present, most micro-miniature UAVs use it as an attitude measurement sensor. The measurement accuracy of the MEMS accelerometer has a relatively large impact on the UAV attitude calculation. However, the accuracy of the accelerometer is low, and it is necessary to use a certain calibration method to improve its measurement accuracy. Traditional accelerometer calibration generally uses a high-precision three-axis turntable, and the existing patent application called a method and system for automatic batch calibration of MEMS inertial sensors uses a three-axis...

AI Technical Summary

Problems solved by technology

[0005] (1) In the prior art, a high-precision turntable is required, and the accelerometer cannot be calibrated at any time without a turntable; the genetic algorithm can be used to calibrate the accelerometer without relying on the turntable, but the genetic algorithm has a large amount of calculation and takes a long time to calibrate

[0006] (2) GPS information is required in the prior art, and it cannot be used in places without GPS signals such as indoors, and the accelerometer calibration of drones cannot be realized indoors

[0007] (3) The error model in the prior art is relatively simple and the calibration accuracy is not high

[0009] First of all, it is impossible to provide a reference standard for accelerometer calibration without relying on a high-precision turntable. Without GPS information, some effective information will be lost.

In addition, although the existing error model is simple, the calculation amount of the model is small. Increasing the complexity of the error model may also bring about a large amount of calculation while increasing the accuracy.

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