多旋翼无人机磁罗盘校准方法
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摘要
为提高多旋翼无人机航向角解算精度,研究磁罗盘校准和罗差补偿方法;通过详细分析罗差产生原因,并结合多旋翼应用,将磁罗盘干扰划分为机体坐标系静态干扰、机体坐标系动态干扰、导航坐标系静态干扰、导航坐标系动态干扰四大类;针对机体坐标系动态干扰,结合多旋翼应用背景,研究干扰的离线测量与在线补偿方法;针对机体坐标系静态干扰,提出一种飞行过程中实时校准方法;针对导航坐标系静态干扰,创新性采用GNSS模块的速度方向信息修正罗差;导航坐标系动态干扰为原理性误差,这里暂不讨论;结果表明:研究内容可有效补偿机体坐标系动态与静态干扰,以及导航坐标系静态干扰对磁罗盘和航向角解算精度的影响,有助于改善无人机的飞行性能。
In order to improve the accuracy of multi-rotor UAV heading angle calculation,magnetic compass calibration and compass error compensation methods ware studied.Through detailed analysis of the causes of compass error,magnetic compass interference can be divided into four categories:static interference in airframe coordinate system,dynamic interference in airframe coordinate system,static interference in navigation coordinate system and dynamic interference in navigation coordinate system.Aiming at the dynamic interference in airframe coordinate system,the method of off-line measurement and on-line compensation was studied considering the multi-rotor UAV application;aiming at the static interference in airframe coordinate system,a new real-time calibration method in flight process was proposed;aiming at the static interference in navigation coordinate system,the velocity information of GNSS module was innovatively used to correct the compass error;the dynamic interference in navigation coordinate system was aprincipled error and was not discussed here.The results show that the research can effectively compensate the influence of dynamic and static interference in airframe coordinate system and static interference in navigation coordinate system on the accuracy of magnetic compass and heading angle calculation,and help to improve the flight performance of UAV.
In order to improve the accuracy of multi-rotor UAV heading angle calculation,magnetic compass calibration and compass error compensation methods ware studied.Through detailed analysis of the causes of compass error,magnetic compass interference can be divided into four categories:static interference in airframe coordinate system,dynamic interference in airframe coordinate system,static interference in navigation coordinate system and dynamic interference in navigation coordinate system.Aiming at the dynamic interference in airframe coordinate system,the method of off-line measurement and on-line compensation was studied considering the multi-rotor UAV application;aiming at the static interference in airframe coordinate system,a new real-time calibration method in flight process was proposed;aiming at the static interference in navigation coordinate system,the velocity information of GNSS module was innovatively used to correct the compass error;the dynamic interference in navigation coordinate system was aprincipled error and was not discussed here.The results show that the research can effectively compensate the influence of dynamic and static interference in airframe coordinate system and static interference in navigation coordinate system on the accuracy of magnetic compass and heading angle calculation,and help to improve the flight performance of UAV.
引文
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[2]Nguyen H N,Zhou J,Kang H J.A calibration method for enhancing robot accuracy through integration of an extended Kalman filter algorithm and an artificial neural network[J].Neurocomputing,2015,151:996-1005.
[3]徐德昌,蔡成林,李思民,等.一种手持式电子磁罗盘航向误差校正方法[J].电子器件,2018,41(5):1275-1279.
[4]何磊,罗兵,吴文启.基于DGPS航迹偏差的多旋翼无人机磁干扰检测技术研究[J].计算机测量与控制,2017,25(10):39-42.
[5]Ousaloo H S,Sharifi G,Mahdian J,et al.Complete calibration of three-axis strapdown magnetometer in mounting frame[J].IEEE Sensors Journal,2017,PP(99):1-1.
[6]贺云凯,刘卫玲,韦啸,等.电子罗盘水平状态下航向角误差补偿算法的研究[J].计算机测量与控制,2014,22(8):2515-2517.
[7]Kok M,Hol J D,Schn T B.Indoor positioning using ultrawideband and inertial measurements[J].IEEE Transactions on Vehicular Technology,2015,64(4):1293-1303.
[8]徐金琦.多旋翼无人机的嵌入式自主飞行控制系统设计[D].南京:南京信息工程大学,2014.
[9]闻秋香,罗向前,孙君道.磁罗盘工程校准方法研究[J].科学技术与工程,2011,11(28):6936-6939.
[10]戴磊,齐俊桐,吴冲,等.旋翼飞行机器人磁罗盘误差分析及校准[J].机器人,2012,34(4):418-423.