CN105890626A - Method for resisting magnetic interference - Google Patents
Method for resisting magnetic interference Download PDFInfo
- Publication number
- CN105890626A CN105890626A CN201610334386.9A CN201610334386A CN105890626A CN 105890626 A CN105890626 A CN 105890626A CN 201610334386 A CN201610334386 A CN 201610334386A CN 105890626 A CN105890626 A CN 105890626A
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- Prior art keywords
- speed
- course angle
- velocity
- aircraft
- orientation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention relates to the field of magnetic-interference resistance and particularly relates to a method for resisting magnetic interference. The invention discloses a designed method for resisting the magnetic interference. The method comprises the following steps of: firstly acquiring a speed of an aircraft in an ideal state, which is generated by a control instruction under a geographic system; then measuring an actual flying speed; solving a navigation angle error of the aircraft according to the ideal speed and the actual flying speed; and correcting a navigation angle of the aircraft according to the navigation angle error. Therefore, by adoption of the method, the purpose of resisting magnetic-interference is achieved without auxiliary correction of a magnetometer.
Description
Technical field
The present invention relates to diamagnetic jamming field, a kind of method particularly relating to diamagnetic interference.
Background technology
Conventional MEMS attitude heading reference system is a kind of by mutually orthogonal three-axis gyroscope, three axis accelerometer and three
Axle gaussmeter forms, and by the sensor-based system of data anastomosing algorithm accurate measurement space attitude, it is widely used in microminiature
In the attitude measurement of unmanned plane.MEMS gaussmeter integrated in MEMS aviation attitude system is mainly used for revising attitude measurement system
Course angle error, improves course angle certainty of measurement and long-time stability, but when it is applied to Small and micro-satellite, its building ring
Border is mainly low clearance area, and MEMS gaussmeter integrated in system is easily by ground local magnetic field disturbance and airborne motor-field
Deng interference and to cause course angle to be measured inaccurate, thus affect the flight stability of Small and micro-satellite.Easy for gaussmeter
By the problem of magnetic interference, researcher proposes magnetic interference and judges and the method for diamagnetic interference, but these diamagnetic interference
Method, still cannot fully effective control and be completely counterbalanced by the magnetic interference impact on course angle certainty of measurement.And in microminiature
In unmanned plane application, also may be implemented in the course angle under assisting without gaussmeter based on multi-antennas GPS or D-RTK and measure, thus
Reach the purpose of diamagnetic interference, but the exploitation that the use of multi-antennas GPS or D-RTK not only can increase Small and micro-satellite becomes
This, after being blocked when gps signal or disturbed simultaneously, it is impossible to realize the stably measured of course angle.Therefore, in order to reach to open with relatively low
Send out cost, under various applied environments, be effectively isolated the purpose of magnetic interference, need it is further proposed that a kind of novel without magnetic strength
Meter auxiliary revises the diamagnetic interference method of course angle.
Summary of the invention
A kind of method that it is an object of the invention to provide diamagnetic interference, in view of the above problems, it compensate for above-mentioned defect
And provide the advantage that
A kind of method of diamagnetic interference, wherein, described method includes:
Obtain aircraft by speed under control instruction generated ideal state；
Record described aircraft actual speed in flight course；
The course angle error of described unmanned plane is calculated by described actual speed and perfect condition speed；
Calculate with described course angle error and obtain revised course angle so that described flying instrument is for diamagnetic interference
Ability.
Above-mentioned method, wherein, described resolution of velocity ideally is the speed of geographic north orientation, the speed of east orientation
Degree and ground are to speed.
Above-mentioned method, wherein, other location such as the GPS locating module that described actual speed is carried by described aircraft
Mode obtains.
Above-mentioned method, wherein, described method includes:
By speed and the velocity composite velocity of described east orientation of described north orientation；
Record the angle of described velocity and the speed of described north orientation
Above-mentioned method, wherein, described method includes:
Described actual speed is decomposed into geographic north orientation speed, east orientation speed and ground to speed；
The north orientation speed decomposing out by described actual speed and east orientation velocity composite velocity；
Calculate the angle of this velocity and north orientation speed
Above-mentioned method, wherein, passes through formulaCalculate course angle error
Above-mentioned method, wherein, passes through formulaCalculate revised course angleWhereinIt is to pass through gyro
The Small and micro-satellite course angle that instrument integration obtains.
In sum, the method for a kind of diamagnetic interference of the open design of the present invention, by calculating the preferable speed under Department of Geography
The angle between velocity and north orientation speed in degree and actual speed, and then draw the error of course angle, pass through course angle
Error and actual heading angle immediately arrive at revised course angle.
Accompanying drawing explanation
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.But, appended accompanying drawing be merely to illustrate and
Illustrate, be not intended that limitation of the scope of the invention.
Fig. 1 is the flow chart of the present invention.
Detailed description of the invention
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings, but not as the limit of the present invention
Fixed.
The present invention designs a kind of method of diamagnetic interference, is first to obtain aircraft under Department of Geography by control instruction life
The speed ideally become, then record-setting flight device practical flight speed in flight course, by the reality of aircraft
Border flight speed and velometer ideally calculate the course angle error of aircraft, amass with this course angle error and gyroscope
The course angle got tries to achieve the correction course angle of aircraft so that aircraft has the ability of diamagnetic interference.
As it is shown in figure 1, concrete, by step in detail below:
1, obtain Small and micro-satellite under Department of Geography by control instruction generated ideal Department of Geography speed, be mainly
Obtain north orientation speed under Department of GeographyWith east orientation speed
A kind of approach that Department of Geography's ideal velocity obtains is, first obtains the ground that during flight controls, position control loop generates
The expectation north orientation speed of reason systemWith expectation east orientation speedThen rocking bar or other modes according to user operation are defeated
The roll angle γ entered and pitching angle theta, in conjunction with course angle to be revisedCalculate user's desired north orientation speedAnd expectation
East orientation speedThen Department of Geography's ideal north orientation speedEast orientation speedBut
The acquisition of Department of Geography's ideal velocity is not only limited to this kind of approach.
2, Small and micro-satellite north orientation speed of actual output under Department of Geography is obtainedWith east orientation speed
The north orientation speed of actual output under Department of GeographyWith east orientation speedAcquisition can be by carrying on unmanned plane
Other location modes such as GPS locating module obtain, but acquiring way is not only limited to this.
3, course angle error is calculatedFirst preferable north orientation speed and the speed of east orientation velocity composite under Department of Geography are calculated
Degree vector and the angle of north orientationCalculate as shown in formula (1)；Then north orientation speed actual under Department of Geography and east orientation speed are calculated
The velocity of degree synthesis and the angle of north orientationCalculate as shown in formula (2)；Finally calculate course angle errorCalculate such as
Shown in formula (3).
4, revised course angle is calculated
The course angle of Small and micro-satellite is obtained by gyroscope integrationThen by course angle errorIt is deducted,
Thus obtain revised course angle
Thus can immediately arrive at revised course angle so that unmanned plane need not gaussmeter auxiliary and revises the most permissible
Circuit flies according to the rules, reaches the purpose of diamagnetic interference.
Embodiment one
One unmanned plane being not provided with gaussmeter realizes design program by system and obtains the ideal flight speed of setting flight
Degree, then when this unmanned plane is during practical flight when, the GPS locating module carried records its actual flight speed,
The program being previously written is ideal velocity and actual speed to be decomposed, and respectively obtains geographic north orientation speed and east orientation speed
Degree, draws the aggregate velocity vector of north orientation speed and east orientation speed, between Negotiation speed vector and north orientation speed the most respectively
Angle obtains course angle error, and the course angle actual by course angle error and this unmanned plane obtains revised course angle, this
Sample avoids the need for the auxiliary correction of gaussmeter, directly relies on the program of unmanned plane self and other hardware collaborative work to draw correction
Course angle.
In sum, the method for a kind of diamagnetic interference of the open design of the present invention, by calculating the preferable speed under Department of Geography
The angle between velocity and north orientation speed in degree and actual speed, and then draw the error of course angle, pass through course angle
Error and actual heading angle immediately arrive at revised course angle.
By explanation and accompanying drawing, give the exemplary embodiments of the ad hoc structure of detailed description of the invention, based on present invention essence
God, also can make other conversion.Although foregoing invention proposes existing preferred embodiment, but, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications will be apparent to undoubtedly.
Therefore, appending claims should regard whole variations and modifications of true intention and the scope containing the present invention as.In power
The scope of any and all equivalence and content in the range of profit claim, be all considered as still belonging to the intent and scope of the invention.
Claims (7)
1. the method for a diamagnetic interference, it is characterised in that described method includes:
Obtain aircraft by speed under control instruction generated ideal state；
Record described aircraft actual speed in flight course；
The course angle error of described aircraft is calculated by described actual speed and perfect condition speed；
Calculate with described course angle error and obtain revised course angle so that the diamagnetic interference of described aircraft.
Method the most according to claim 1, it is characterised in that described resolution of velocity ideally is geographic north
To speed, the speed of east orientation and ground to speed.
Method the most according to claim 1, it is characterised in that the GPS that described actual speed is carried by described aircraft
Locating module obtains.
Method the most according to claim 2, it is characterised in that described method includes:
By speed and the velocity composite velocity of described east orientation of described north orientation；
Record the angle of described velocity and the speed of described north orientation
Method the most according to claim 4, it is characterised in that described method includes:
Described actual speed is decomposed into geographic north orientation speed, east orientation speed and ground to speed；
The north orientation speed decomposing out by described actual speed and east orientation velocity composite velocity；
Calculate the angle of this velocity and north orientation speed
Method the most according to claim 5, it is characterised in that pass through formulaCalculate course angle by mistake
Difference
Method the most according to claim 6, it is characterised in that pass through formulaCalculate revised course angleWhereinIt it is the logical described course angle crossing the described aircraft that gyroscope integration obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334386.9A CN105890626A (en) | 2016-05-19 | 2016-05-19 | Method for resisting magnetic interference |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610334386.9A CN105890626A (en) | 2016-05-19 | 2016-05-19 | Method for resisting magnetic interference |
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| CN105890626A true CN105890626A (en) | 2016-08-24 |
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| CN201610334386.9A Pending CN105890626A (en) | 2016-05-19 | 2016-05-19 | Method for resisting magnetic interference |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521806A (en) * | 2017-05-23 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of navigational calibration method, equipment and aircraft |
| CN108897333A (en) * | 2018-07-06 | 2018-11-27 | 深圳臻迪信息技术有限公司 | Posture evaluation method, device and unmanned plane |
| CN118424335A (en) * | 2024-05-15 | 2024-08-02 | 济南市勘察测绘研究院 | Data management system based on unmanned aerial vehicle survey and drawing |
| CN118659820A (en) * | 2024-08-16 | 2024-09-17 | 荣耀终端有限公司 | Communication method, device and storage medium |
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2016
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521806A (en) * | 2017-05-23 | 2018-09-11 | 深圳市大疆创新科技有限公司 | A kind of navigational calibration method, equipment and aircraft |
| WO2018214015A1 (en) * | 2017-05-23 | 2018-11-29 | 深圳市大疆创新科技有限公司 | Course correction method and device, and aerial vehicle |
| CN108521806B (en) * | 2017-05-23 | 2019-11-08 | 深圳市大疆创新科技有限公司 | A kind of navigational calibration method, equipment and aircraft |
| CN108897333A (en) * | 2018-07-06 | 2018-11-27 | 深圳臻迪信息技术有限公司 | Posture evaluation method, device and unmanned plane |
| CN118424335A (en) * | 2024-05-15 | 2024-08-02 | 济南市勘察测绘研究院 | Data management system based on unmanned aerial vehicle survey and drawing |
| CN118659820A (en) * | 2024-08-16 | 2024-09-17 | 荣耀终端有限公司 | Communication method, device and storage medium |
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