CN105910594B - A kind of unmanned plane magnetic vector bearing calibration and system - Google Patents
A kind of unmanned plane magnetic vector bearing calibration and system Download PDFInfo
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- CN105910594B CN105910594B CN201610242718.0A CN201610242718A CN105910594B CN 105910594 B CN105910594 B CN 105910594B CN 201610242718 A CN201610242718 A CN 201610242718A CN 105910594 B CN105910594 B CN 105910594B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
Abstract
The present invention provides a kind of unmanned plane magnetic vector bearing calibrations and system, method to include：Magnetic vector when unmanned plane is in motor closed state is measured, and is stored as the first magnetic vector；It measures unmanned plane and be in motor opening and difference motor speed corresponding magnetic vector when being idling conditions, and different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；The corresponding correction parameter of different motor speeds is obtained, and different motor speeds and corresponding correction parameter are stored as third magnetic vector table according to the second magnetic vector table and the first magnetic vector；The magnetic vector of unmanned plane and corresponding motor speed are measured in real time, and real-time magnetic vector is corrected according to the third magnetic vector table.Magnetic vector when magnetic vector and motor when the present invention can be closed according to the motor of unmanned plane are opened under idling conditions obtains correction parameter；And then real-time magnetic field vector during according to correction parameter to unmanned plane during flying is accurately corrected.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane magnetic vector bearing calibration and system.
Background technology
Electronic compass is also known as magnetometer, is using the intrinsic directive property in earth magnetic field, measures carrier space attitude angle
A kind of measurement sensor, it can measure carrier 3 d pose data, and be widely used in need obtain attitude of carrier angle
Occasion.The electronic compass of unmanned plane is used to measure course angle, but due to the object in the equipment and flight environment of vehicle of body in itself
Body has electromagnetic property, and the complementary field of generation can interfere the magnetic field of measurement, influence the calculation accuracy of state parameter, because
This electronic compass is to influence the key factor of accuracy of electronic compass on the degree of compensation of external interference.
The Chinese invention patent of Publication No. CN102589537B discloses a kind of electronics sieve for having unmanned plane under magnetic environment
Disk bearing calibration, method are：S1, the engine body exterior in unmanned plane, magnetometer obtain the opposite magnetic flux of three axis of electronic compass x, y, z
It measures, ellipsoid fitting correction is carried out after filtering process, preserve correction parameter to first storage device；S2, in the body of unmanned plane
Portion, magnetometer obtain the extreme value of the magnetic flux of three axis of electronic compass x, y, z, carry out ellipsoid fitting correction, preserve correction parameter extremely
Second storage device；S3, inertial navigation module obtain the correction parameter for tilting angular data and combining step S1 and S2, calculate compensation
Horizontal magnetic intensity X afterwardshAnd Yh.Although it is contemplated that the magnetic disturbance inside unmanned plane with outside is to inclining measured by electronic compass
The influence at oblique angle makes unmanned plane still can be tilted the correction at angle in the case where there is magnetic environment, but can be to unmanned plane during motor rotation
Magnetic field generate interference, which does not account for influence to the data measured by electronic compass during motor rotation.
Invention content
The technical problems to be solved by the invention are：One kind is provided during unmanned plane during flying, earth magnetic field can be eliminated
Magnetic field in addition influences, and improves magnetic vector bearing calibration and the system of measurement accuracy.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：
A kind of unmanned plane magnetic vector bearing calibration, including：
Magnetic vector when unmanned plane is in motor closed state is measured, and is stored as the first magnetic vector；
Measure unmanned plane be in motor opening and be idling conditions when the corresponding magnetic vector of difference motor speed, and
Different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；
The corresponding correction parameter of different motor speeds is obtained, and will not according to the second magnetic vector table and the first magnetic vector
Third magnetic vector table is stored as with motor speed and corresponding correction parameter；
The magnetic vector of unmanned plane and corresponding motor speed are measured in real time, it is real-time according to third magnetic vector table correction
Magnetic vector.
The advantageous effect of unmanned plane magnetic vector bearing calibration of the present invention is：The magnetic field generated due to motor speed difference
Difference, and the magnetic field that motor generates belongs to interference magnetic field, measures magnetic field arrow when unmanned plane is in motor unlatching and idling conditions
It measures to get to the magnetic vector for including motor interference magnetic field；So as to the magnetic field being according to unmanned plane during motor closed state
The magnetic vector that vector sum includes motor interference magnetic field can obtain the corresponding correction parameter of different motor speeds；Therefore, nobody
During machine practical flight, the current magnetic field vector of unmanned plane and corresponding motor speed are measured in real time, according to the school being previously obtained
Positive parameter can the current magnetic vector of real time correction, obtain accurate magnetic vector.
The present invention another technical solution be：
A kind of unmanned plane magnetic vector corrects system, including：
First measurement module for measuring magnetic vector when unmanned plane is in motor closed state, and is stored as first
Magnetic vector；
Second measurement module, for measure unmanned plane be in motor opening and for idling conditions when difference motor speed
Corresponding magnetic vector, and different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；
Correction parameter computing module, for obtaining different motor speeds according to the second magnetic vector table and the first magnetic vector
Corresponding correction parameter, and different motor speeds and corresponding correction parameter are stored as third magnetic vector table；
Correction module, for measuring the magnetic vector of unmanned plane and corresponding motor speed in real time, according to the third magnetic field
Vector table corrects real-time magnetic vector.
The advantageous effect of unmanned plane magnetic vector correction system of the present invention is：By the first measurement module measure nobody
Machine is in magnetic vector during motor closed state, and the unmanned plane that the second measurement module measures is in motor opening and is empty
Turn difference motor speed corresponding magnetic vector during state, so as to which correction parameter computing module is according to the first measurement module and second
The measurement result of measurement module obtains correction parameter；And then correction module can be during unmanned plane during flying according to measurement in real time
Magnetic vector and correction parameter obtain to real-time magnetic field vector into accurate correction of advancing.
Description of the drawings
Fig. 1 is the flow chart one of the unmanned plane magnetic vector bearing calibration of the embodiment of the present invention one；
Fig. 2 is the flowchart 2 of the unmanned plane magnetic vector bearing calibration of the embodiment of the present invention one；
Fig. 3 is that the unmanned plane magnetic vector of the embodiment of the present invention two corrects the structure chart one of system；
Fig. 4 is that the unmanned plane magnetic vector of the embodiment of the present invention two corrects the structure chart two of system.
Label declaration：
1st, the first measurement module；2nd, the second measurement module；3rd, correction parameter computing module；4th, correction module；41st, correction ginseng
Number matching module；42nd, the first correction module；5th, course angle computing module.
Specific embodiment
For the technology contents that the present invention will be described in detail, the objects and the effects, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is：The magnetic vector measured when closing and opened with motor according to the motor obtains
Correction parameter, real-time magnetic field vector during according to correction parameter to unmanned plane during flying are accurately corrected.
Explanation of technical terms of the present invention is shown in Table 1:
Table 1
Fig. 1 is please referred to, the present invention provides one kind
A kind of unmanned plane magnetic vector bearing calibration, including：
S1, magnetic vector when unmanned plane is in motor closed state is measured, and is stored as the first magnetic vector；
S2, measure that unmanned plane be in motor opening and the corresponding magnetic field of difference motor speed is sweared during for idling conditions
Amount, and different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；
S3, the corresponding correction parameter of different motor speeds is obtained according to the second magnetic vector table and the first magnetic vector, and
Different motor speeds and corresponding correction parameter are stored as third magnetic vector table；
S4, the magnetic vector for measuring unmanned plane in real time and corresponding motor speed, correct according to the third magnetic vector table
Real-time magnetic vector.
As can be seen from the above description, the advantageous effect of unmanned plane magnetic vector bearing calibration of the present invention is：According to unmanned plane
The first magnetic vector and unmanned plane in motor closed state be in motor opening and for idling conditions when the second magnetic
Field vector obtains correction parameter；And then real-time magnetic field vector during according to correction parameter to unmanned plane during flying is accurately corrected.
Further, each magnetic vector in the second magnetic vector table subtracts the first magnetic vector and obtains different electricity
The corresponding correction parameter of machine rotating speed.
As can be seen from the above description, correction parameter is the interference magnetic field that motor speed is brought.
Further, it further includes：After S5, the real-time magnetic vector of correction, obtained according to the real-time magnetic field vector after correction
To the course angle of unmanned plane.
As can be seen from the above description, accurate unmanned plane course angle is can obtain according to the real-time magnetic field vector after correction, really
Unmanned plane is protected to navigate by water along correct direction.
Further, it is identical with the posture of unmanned plane during motor opening during the motor closed state.
As can be seen from the above description, it is identical with the posture of unmanned plane during motor opening during motor closed state, ensure every
During the magnetic interference that primary removal motor speed is brought, what is left is single earth magnetic field.
Further, at least two motor is opened, and the rotating speed of each motor is identical in unmanned plane.
As can be seen from the above description, due to the general more than one of the motor of unmanned plane, the number that motor is opened is more, timing
Can exclusive PCR as much as possible, it is ensured that correction it is accurate.
Further, described " correcting real-time magnetic vector according to the third magnetic vector table " is specially：
S42, according to real-time motor speed corresponding correction parameter is obtained with the motor speed in third magnetic vector table；
S43, real-time magnetic vector is corrected according to the corresponding correction parameter.
As can be seen from the above description, this turn can be obtained according to the motor speed in real-time motor speed and third vector table
The corresponding correction parameter of speed, so as to be corrected according to correction parameter to real-time magnetic vector.
Fig. 3 is please referred to, another program of the invention is：
A kind of unmanned plane magnetic vector corrects system, including：
First measurement module 1 for measuring magnetic vector when unmanned plane is in motor closed state, and is stored as first
Magnetic vector；
Second measurement module 2, for measuring, unmanned plane is in motor opening and difference motor turns during for idling conditions
The corresponding magnetic vector of speed, and different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；
Correction parameter computing module 3 turns for obtaining different motors according to the second magnetic vector table and the first magnetic vector
The corresponding correction parameter of speed, and different motor speeds and corresponding correction parameter are stored as third magnetic vector table；
Correction module 4, for measuring the magnetic vector of unmanned plane and corresponding motor speed in real time, according to the third magnetic field
Vector table corrects real-time magnetic vector.
As can be seen from the above description, the unmanned plane measured according to the first measurement module 1 is in magnetic field during motor closed state
The unmanned plane that the second measurement module of vector sum 2 measures be in motor opening and difference motor speed correspondence during for idling conditions
Magnetic vector i.e. can obtain correction parameter；And then correction module 4 can be during unmanned plane during flying according to measuring in real time
Magnetic vector and correction parameter obtain accurately correcting real-time magnetic field vector into advancing.
Further, it further includes, course angle computing module 5, after correcting real-time magnetic vector, after correction
Real-time magnetic field vector obtain the course angle of unmanned plane.
As can be seen from the above description, course angle computing module 5 can obtain accurate according to the real-time magnetic field vector after correction
Unmanned plane course angle, it is ensured that unmanned plane is navigated by water along correct direction.
Further, it is identical with the posture of unmanned plane during motor opening during the motor closed state.
As can be seen from the above description, it is identical with the posture of unmanned plane during motor opening during motor closed state, then it can protect
During the card magnetic interference that removal motor speed is brought each time, what is left is single earth magnetic field.
Further, the correction module 4 includes：
Correction parameter matching module 41, for according to the motor speed in real-time motor speed and third magnetic vector table
Obtain corresponding correction parameter；
First correction module 42, for correcting real-time magnetic vector according to the corresponding correction parameter.
As can be seen from the above description, correction parameter matching module 41 obtains corresponding correction ginseng according to real-time motor speed
Number, so as to which the first correction module 42 can be corrected real-time magnetic field vector according to corresponding correction parameter.
Fig. 2 is please referred to, the embodiment of the present invention one is：
A kind of unmanned plane magnetic vector bearing calibration, including：
S1, magnetic vector when unmanned plane is in motor closed state is measured, and is stored as the first magnetic vector；
All motors in unmanned plane are opened, and the rotating speed of each motor is identical；S2, measurement unmanned plane are in motor opening state
State and difference motor speed corresponding magnetic vector during for idling conditions, and different motor speeds and corresponding magnetic vector are deposited
It stores up as the second magnetic vector table；Wherein, the posture of unmanned plane and position during the motor closed state and during motor opening
It is identical；
S3, the corresponding correction parameter of different motor speeds is obtained according to the second magnetic vector table and the first magnetic vector, and
Different motor speeds and corresponding correction parameter are stored as third magnetic vector table；Specifically, the second magnetic vector table
In each magnetic vector subtract the first magnetic vector and obtain the corresponding correction parameter of different motor speeds；
S41, the magnetic vector for measuring unmanned plane in real time and corresponding motor speed；S42, according to real-time motor speed and
Motor speed in three magnetic vector tables obtains corresponding correction parameter；S43, it is corrected in real time according to the corresponding correction parameter
Magnetic vector；Specifically, the magnetic vector measured in real time is subtracted real-time after the corresponding correction parameter is corrected
Magnetic vector；
After S5, the real-time magnetic vector of correction, the course angle of unmanned plane is obtained according to the real-time magnetic field vector after correction.
Preferably, above-mentioned magnetic vector is measured using electric board, and electronic compass is carried out before measuring using ellipsoid fitting
Correction；The magnetic vector refers to the coordinate system of electronic compass itself relative to the posture of magnetic-field vector of the earth；" electronics sieve
Disk is corrected before measuring using ellipsoid fitting " process be specially：Motor is closed, the situation of different postures is in unmanned plane
Under the reading of electronic compass is sampled, and is corrected according to sampled result using ellipse fitting method.
Fig. 4 is please referred to, the embodiment of the present invention two is：
A kind of corresponding system of unmanned plane magnetic vector bearing calibration with above-described embodiment one, including：
First measurement module 1 for measuring magnetic vector when unmanned plane is in motor closed state, and is stored as first
Magnetic vector；
Second measurement module 2, for measuring, unmanned plane is in motor opening and difference motor turns during for idling conditions
The corresponding magnetic vector of speed, when motor closed state, are identical with position with the posture of unmanned plane during motor opening；And
Different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；Wherein, all motors in unmanned plane are opened
It opens, and the rotating speed of each motor is identical；
Correction parameter computing module 3 turns for obtaining different motors according to the second magnetic vector table and the first magnetic vector
The corresponding correction parameter of speed, and different motor speeds and corresponding correction parameter are stored as third magnetic vector table；
Correction module 4, for measuring the magnetic vector of unmanned plane and corresponding motor speed in real time, according to the third magnetic field
Vector table corrects real-time magnetic vector；Wherein, correction module 4 includes：Correction parameter matching module 41, for according in real time
Motor speed obtains corresponding correction parameter with the motor speed in third magnetic vector table；First correction module 42, for according to
Correct real-time magnetic vector according to the corresponding correction parameter, specifically, the magnetic vector measured in real time is subtracted it is described right
The correction parameter answered corrected after real-time magnetic field vector；
Course angle computing module 5 after correcting real-time magnetic vector, is obtained according to the real-time magnetic field vector after correction
To the course angle of unmanned plane.Preferably, above-mentioned magnetic vector is measured using electric board, and electronic compass uses ellipsoid before measuring
Fitting is corrected；The magnetic vector refers to the coordinate system of electronic compass itself relative to the posture of magnetic-field vector of the earth；" electricity
It is corrected before sub- lining using ellipsoid fitting " be specially：Motor is closed, unmanned plane is in right in the case of different postures
The reading of electronic compass is sampled, and is corrected according to sampled result using ellipse fitting method.
In conclusion unmanned plane magnetic vector bearing calibration provided by the invention and system, when measurement motor is closed nobody
The magnetic vector of machine；Posture and the position for keeping unmanned plane are constant, and all motors are started with same rotational speed, and change described turn
Speed measures the corresponding magnetic vector of different motor speeds, and magnetic vector during so as to which the motor measured being opened subtracts motor and closes
Magnetic vector when closing leaves simple earth magnetic field to get the interference magnetic field that motor speed is brought has been arrived, and interference magnetic field is
Correction parameter, and store correction parameter and corresponding rotating speed；The magnetic vector of unmanned plane and corresponding motor speed are measured in real time, from
And the corresponding correction parameter of the rotating speed can be obtained according to real-time motor speed；It can be to real-time according to corresponding correction parameter
Magnetic vector be corrected, magnetic interference caused by eliminating motor obtains high-precision real-time magnetic field vector；According to correction
Real-time magnetic field vector afterwards can obtain accurate course angle, and realization is accurately and reliably navigated by water.This invention removes motors to bring
Magnetic field influence, real-time magnetic field vector during to unmanned plane during flying has carried out accurate correction.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made directly or indirectly are used in relevant technical field, similarly include
In the scope of patent protection of the present invention.
Claims (10)
1. a kind of unmanned plane magnetic vector bearing calibration, which is characterized in that including：
Magnetic vector when unmanned plane is in motor closed state is measured, and is stored as the first magnetic vector；
It measures unmanned plane and be in motor opening and difference motor speed corresponding magnetic vector when being idling conditions, it and will not
The second magnetic vector table is stored as with motor speed and corresponding magnetic vector；The idling conditions is opened for motor, but nobody
Machine is in static state；
The corresponding correction parameter of different motor speeds is obtained according to the second magnetic vector table and the first magnetic vector, and by different electricity
Machine rotating speed and corresponding correction parameter are stored as third magnetic vector table；
The magnetic vector of unmanned plane and corresponding motor speed are measured in real time, and real-time magnetic is corrected according to the third magnetic vector table
Field vector.
2. unmanned plane magnetic vector bearing calibration according to claim 1, which is characterized in that the second magnetic vector table
In each magnetic vector subtract the first magnetic vector and obtain the corresponding correction parameter of different motor speeds.
3. unmanned plane magnetic vector bearing calibration according to claim 1, which is characterized in that correct real-time magnetic vector
Later, the course angle of unmanned plane is obtained according to the real-time magnetic field vector after correction.
4. unmanned plane magnetic vector bearing calibration according to claim 1, which is characterized in that during the motor closed state
It is identical with the posture of unmanned plane during motor opening.
5. unmanned plane magnetic vector bearing calibration according to claim 1, which is characterized in that at least two in unmanned plane
Motor is opened, and the rotating speed of each motor is identical.
6. unmanned plane magnetic vector bearing calibration according to claim 1, which is characterized in that described " according to the third
Magnetic vector table corrects real-time magnetic vector " be specially：
According to real-time motor speed corresponding correction parameter is obtained with the motor speed in third magnetic vector table；
Real-time magnetic vector is corrected according to the corresponding correction parameter.
7. a kind of unmanned plane magnetic vector corrects system, which is characterized in that including：
First measurement module for measuring magnetic vector when unmanned plane is in motor closed state, and is stored as the first magnetic field
Vector；
Second measurement module, for measuring, unmanned plane is in motor opening and difference motor speed corresponds to during for idling conditions
Magnetic vector, and different motor speeds and corresponding magnetic vector are stored as the second magnetic vector table；The idling conditions
It is opened for motor, but unmanned plane is in static state；
Correction parameter computing module corresponds to for obtaining different motor speeds according to the second magnetic vector table and the first magnetic vector
Correction parameter, and different motor speeds and corresponding correction parameter are stored as third magnetic vector table；
Correction module, for measuring the magnetic vector of unmanned plane and corresponding motor speed in real time, according to the third magnetic vector
Table corrects real-time magnetic vector.
8. unmanned plane magnetic vector according to claim 7 corrects system, which is characterized in that further includes, course angle calculates
After correcting real-time magnetic vector, the course angle of unmanned plane is obtained according to the real-time magnetic field vector after correction for module.
9. unmanned plane magnetic vector according to claim 7 corrects system, which is characterized in that during the motor closed state
It is identical with the posture of unmanned plane during motor opening.
10. unmanned plane magnetic vector according to claim 7 corrects system, which is characterized in that the correction module includes：
Correction parameter matching module, for being obtained pair according to the motor speed in real-time motor speed and third magnetic vector table
The correction parameter answered；
First correction module, for correcting real-time magnetic vector according to the corresponding correction parameter.
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| US10746815B2 (en) * | 2016-12-22 | 2020-08-18 | Microsoft Technology Licensing, Llc | Magnetic interference detection and correction |
| CN110869787A (en) * | 2018-09-28 | 2020-03-06 | 深圳市大疆创新科技有限公司 | Magnetic sensor calibration method and movable platform |
| CN112003501B (en) * | 2020-07-21 | 2021-11-19 | 清华大学 | Output compensation method and device for motor sinusoidal error in interference magnetic field |
| CN117232488A (en) * | 2023-11-13 | 2023-12-15 | 天津云圣智能科技有限责任公司 | Interference compensation method, device, equipment and storage medium of magnetic compass |
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| EP2824421B1 (en) * | 2013-07-08 | 2016-06-29 | Vectronix AG | Digital Magnetic Compass Compensation |
| CN105157690A (en) * | 2015-09-01 | 2015-12-16 | 湖南基石信息技术有限公司 | Four-rotor aircraft magnetic compass calibration method |
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