CN108458728A - A kind of Magnetic Sensor on-line calibration method for unmanned plane - Google Patents
A kind of Magnetic Sensor on-line calibration method for unmanned plane Download PDFInfo
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- CN108458728A CN108458728A CN201810218414.XA CN201810218414A CN108458728A CN 108458728 A CN108458728 A CN 108458728A CN 201810218414 A CN201810218414 A CN 201810218414A CN 108458728 A CN108458728 A CN 108458728A
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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
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- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
Abstract
The present invention provides a kind of Magnetic Sensor on-line calibration methods for unmanned plane, can solve the calibration problem of Magnetic Sensor under complicated magnetic environment need not dismantle after product installation, a horizontal circular movement is carried out on using equipment, you can to realize the high-precision calibration of magnetic heading parameter.Many advantageous effects such as the Operation and Maintenance cost for substantially reducing the fields such as existing unmanned plane, unmanned boat navigation equipment can be played.
Description
Technical field
The present invention relates to Magnetic Sensors to calibrate field, more particularly to a kind of based on least square method progress twice fitting, right
The method that Magnetic Sensor for unmanned plane is calibrated.
Background technology
Currently, the combination of MEMS inertia+Magnetic Sensor is as a kind of lower-cost navigation module, unmanned plane, nobody
Ship and unmanned vehicle etc. are widely adopted in fields.Magnetic Sensor therein is mainly calculated by sensitively magnetic vector direction
Magnetic heading, but since earth magnetic field intensity is very weak, only about 0.5 Gauss, therefore it is highly susceptible to extraneous various soft, Hard Magnetic environment
Interference.For example, due to the limitation of installation space inside unmanned plane, it is special often to there are various electrical equipments in Magnetic Sensor periphery
It is not the various executing agencies such as motor, steering engine, magnetic environment is sufficiently complex, and serious magnetic disturbance leads to the magnetic heading precision calculated
It is low, it cannot be satisfied use demand.Therefore, before using calculation of magnetic force magnetic heading, it is necessary to carry out magnetic under using facility environment
The influence of various extraneous magnetic disturbances is eliminated in calibration.
Existing magnetic collimation technique is broadly divided into two classes, and one kind is plane calibration method, the operation letter of this method calibration process
It is single, it is easy to user's use, but under the more serious environment of some magnetic disturbances, calibration accuracy is limited, cannot be satisfied use sometimes
Family use demand；Second is that stereo calibration method, this method calibration accuracy is higher, but calibration process is complicated for operation, for example needs
The multiple positions in space are calibrated, and when being applied in the larger equipment such as unmanned plane, unmanned boat, are not suitable for carrying out this
Class calibration operation.There is calibrating patterns complexity, calibration if it is desired to reaching preferable calibration accuracy in above-mentioned existing calibration method
The features such as process is cumbersome and prover time is long is highly detrimental to the use operation of user.
Invention content
For technical problem present in above-mentioned this field, the present invention provides a kind of Magnetic Sensors for unmanned plane to exist
Line calibration method, specifically includes following steps：
Step 1, horizontal rotation body repeat the pitching angle theta for obtaining inertial navigation system detection and cross in the rotary course
Three axis of roll angle γ and Magnetic Sensor under body coordinate system export Mx、My、Mz；
Step 2 calculates raw magnetic gradient intensity vector in multigroup horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is based on least square
Method is fitted magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on the multigroup magnetic intensity vector H obtained in the step 21
The elliptical orbit compensation constituted is circular path, obtains magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6 is compensated elliptical orbit for circular path, meter based on the magnetic calibrating parameters execution obtained in the step 5
Calculate the magnetic field intensity after compensation.
Further, the step 1 specifically includes：
Initial pure inertia course accumulated value ψsumFor 0 and count value NumψIt is 0, works as ψsumWhen 5 ° of ＞, NumψCumulative 1, together
When by ψsumIt resets.
Further, the raw magnetic gradient intensity vector in multigroup horizontal plane is calculated in the step 2Specifically
Including：
Further, the step 3 specifically includes：
If plane ellipse at any position equation is：
x2+Axy+By2+ Cx+Dy+E=0；
Establishing object function is：
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E：
Wherein, A, B, C, D, E are respectively the quadratic term, first order and constant term coefficient of plane arbitrary ellipse equation；Bx、By
In x, the magnetic deflection amount of y-axis caused by be interfered as Hard Magnetic；φsRotation angle caused by be interfered by soft magnetism；Kx、KyFor scale system
Number so that the H after calibrationx、HyFor a standard round.
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1Value and Bx1、By1、Kx1、Ky1、φS1。
Further, the step 4 specifically includes：
When judging the count value NumψWhen equal to 72, judges the completion that rotates a circle, magnetic intensity vector H is calculated2
For：
Further, the step 5 specifically includes：
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2's
Value, and calculate magnetic calibrating parameters Bx2、By2、Kx2、Ky2、φS2。
Further, the magnetic field intensity after compensation described in the step 6 is：
Further, it after the step 6, is calculated to obtain magnetic heading angle ψ according to the magnetic field intensity after the compensationM：
Based on the method that aforementioned present invention is provided, the calibration problem of Magnetic Sensor under complicated magnetic environment can be solved, is produced
It after product installation, need not dismantle, carry out a horizontal circular movement on using equipment, you can to realize magnetic heading parameter
High-precision calibration, and the Operation and Maintenance cost for substantially reducing the fields navigation equipments such as existing unmanned plane/unmanned boat can be played
Etc. many advantageous effects.
Specific implementation mode
A kind of Magnetic Sensor on-line calibration method for unmanned plane provided by the present invention, specifically includes following steps：
Step 1, horizontal rotation body repeat the pitching angle theta for obtaining inertial navigation system detection and cross in the rotary course
Three axis of roll angle γ, Magnetic Sensor under body coordinate system export Mx、My、Mz；
Step 2 calculates raw magnetic gradient intensity vector in multigroup horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is based on least square
Method is fitted magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on the multigroup magnetic intensity vector H obtained in the step 21
The elliptical orbit compensation constituted is circular path, obtains magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6, based on the magnetic calibrating parameters obtained in the step 5 execute again by elliptical orbit compensation be circumference rail
Mark calculates the magnetic field intensity after compensation.
In the preferred embodiment of the application, the step 1 specifically includes：
Initial pure inertia course accumulated value ψsumFor 0 and count value NumψIt is 0,；Work as ψsumWhen 5 ° of ＞, NumψCumulative 1, together
When by ψsumIt resets.
In the preferred embodiment of the application, the raw magnetic gradient intensity in multigroup horizontal plane is calculated in the step 2
VectorIt specifically includes：
When ideally magnetic compass rotates one week along course, HxAnd HyThe vectorial vertex of synthesis is in the track of plane
One circle, but due to the interference effect of Hard Magnetic and soft magnetism, track becomes the ellipse of a deviation zero.Therefore by the ellipse
Compensate into a circle, you can to complete Magnetic Sensor parametric calibration.
Oval and circle relationship can be expressed as：
H1=ΦS·K·H+B
Wherein,
Represent unit circle trajectory coordinates；
Change elliptical semi-major axis and semi-minor axis, actually Kx、KyFor calibration factor so that calibration
H afterwardsx、HyFor a standard round；
The orthogonal matrix is by one angle of ELLIPTIC REVOLUTION, actually φsTo be interfered by soft magnetism
Caused rotation angle；
Change elliptical center, actually Bx、ByIn x, the magnetic of y-axis caused by be interfered as Hard Magnetic
Offset；
Represent elliptical orbit coordinate.
As a result, in the preferred embodiment of the application, the step 3 specifically includes：
If plane ellipse at any position equation is：
x2+Axy+By2+ Cx+Dy+E=0；
Establishing object function is：
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E：
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1Value and Bx1、By1、Kx1、Ky1、φS1。
In the preferred embodiment of the application, the step 4 specifically includes：
When judging the count value NumψWhen equal to 72, judges the completion that rotates a circle, magnetic intensity vector H is calculated2
For：
In the preferred embodiment of the application, the step 5 specifically includes：
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2's
Value, and calculate magnetic calibrating parameters Bx2、By2、Kx2、Ky2、φS2。
In the preferred embodiment of the application, the magnetic field intensity after being compensated described in the step 6 is：
In the preferred embodiment of the application, after the step 6, according to the oerstedmeter after the compensation
Calculation obtains magnetic heading angle ψM：
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of Magnetic Sensor on-line calibration method for unmanned plane, it is characterised in that：It specifically includes following rapid：
Step 1 rotates horizontally body, and the pitching angle theta and roll angle that obtain inertial navigation system detection are repeated in the rotary course
Three axis of γ and Magnetic Sensor under body coordinate system export Mx、My、Mz；
Step 2 calculates raw magnetic gradient intensity vector in multigroup horizontal plane according to each parameter obtained in the step 1
Step 3, the elliptical orbit model for establishing raw magnetic gradient intensity Vector Rotation in horizontal plane, and it is quasi- based on least square method
Close magnetic calibrating parameters；
Step 4, organism level are rotated up to after a week, based on the multigroup magnetic intensity vector H obtained in the step 21By its structure
At elliptical orbit compensation be circular path, obtain magnetic intensity vector H2；
Step 5, based on least square method to the vector H in the step 42It is fitted, obtains magnetic calibrating parameters again；
Step 6, to be executed elliptical orbit compensation based on the magnetic calibrating parameters that are obtained in the step 5 be circular path, and is calculated
Magnetic field intensity after compensation.
2. the method as described in claim 1, it is characterised in that：The step 1 specifically includes：
The initial pure inertia course accumulated value ψ of settingsumFor 0 and count value NumψIt is 0, works as ψsum＞ 5.When, NumψCumulative 1, together
When by ψsumIt resets.
3. method as claimed in claim 2, it is characterised in that：The raw magnetic gradient in multigroup horizontal plane is calculated in the step 2
Strength vectorIt specifically includes：
4. method as claimed in claim 3, it is characterised in that：The step 3 specifically includes：
If plane ellipse at any position equation is：
x2+Axy+By2+ Cx+Dy+E=0；
Establishing object function is：
It enables
The value of A, B, C, D, E are calculated based on least square method,
Magnetic calibrating parameters are calculated according to the value of obtained A, B, C, D, E：
Wherein, A, B, C, D, E are respectively the quadratic term, first order and constant term coefficient of plane arbitrary ellipse equation；Bx、ByIt serves as reasons
In x, the magnetic deflection amount of y-axis caused by Hard Magnetic interference；φsRotation angle caused by be interfered by soft magnetism；Kx、KyFor calibration factor, make
H after must calibratingx、HyFor a standard round；
Thus H is obtained1Corresponding parameter A1、B1、C1、D1、E1And Bx1、By1、Kx1、Ky1、φS1Value.
5. method as claimed in claim 4, it is characterised in that：The step 4 specifically includes：
When judging the count value NumψWhen equal to 72, judges the completion that rotates a circle, magnetic intensity vector H is calculated2For：
6. method as claimed in claim 5, it is characterised in that：The step 5 specifically includes：
To 72 groups of obtained Hx2、Hy2Parameter A is calculated using least square method again for data2、B2、C2、D2、E2Value, and
Calculate magnetic calibrating parameters Bx2、By2、Kx2、Ky2、φS2。
7. method as claimed in claim 6, it is characterised in that：Described in the step 6 compensate after magnetic field intensity be：
8. the method for claim 7, it is characterised in that：It is strong according to the magnetic field after the compensation after the step 6
Magnetic heading angle ψ is calculated in degreeM：
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Cited By (5)
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|---|---|---|---|---|
| CN109374015A (en) * | 2018-09-13 | 2019-02-22 | 红色江山(湖北)导航技术有限公司 | A kind of Magnetic Sensor on-line calibration method |
| CN110108264A (en) * | 2019-05-24 | 2019-08-09 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane horizontally rotates school magnetism method in the air |
| CN111780786A (en) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | Online calibration method for three-axis TMR sensor |
| CN112985461A (en) * | 2021-03-25 | 2021-06-18 | 成都纵横自动化技术股份有限公司 | Magnetic sensor calibration method based on GNSS direction finding |
| CN113551692A (en) * | 2021-07-19 | 2021-10-26 | 杭州迅蚁网络科技有限公司 | Unmanned aerial vehicle magnetometer and camera installation angle calibration method and device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109374015A (en) * | 2018-09-13 | 2019-02-22 | 红色江山(湖北)导航技术有限公司 | A kind of Magnetic Sensor on-line calibration method |
| CN110108264A (en) * | 2019-05-24 | 2019-08-09 | 北京韦加无人机科技股份有限公司 | A kind of unmanned plane horizontally rotates school magnetism method in the air |
| CN110108264B (en) * | 2019-05-24 | 2021-06-29 | 北京韦加无人机科技股份有限公司 | Unmanned aerial vehicle aerial horizontal rotation magnetism correction method |
| CN111780786A (en) * | 2020-08-08 | 2020-10-16 | 武汉利科夫科技有限公司 | Online calibration method for three-axis TMR sensor |
| CN112985461A (en) * | 2021-03-25 | 2021-06-18 | 成都纵横自动化技术股份有限公司 | Magnetic sensor calibration method based on GNSS direction finding |
| CN112985461B (en) * | 2021-03-25 | 2023-11-03 | 成都纵横自动化技术股份有限公司 | GNSS direction finding based magnetic sensor calibration method |
| CN113551692A (en) * | 2021-07-19 | 2021-10-26 | 杭州迅蚁网络科技有限公司 | Unmanned aerial vehicle magnetometer and camera installation angle calibration method and device |
| CN113551692B (en) * | 2021-07-19 | 2024-04-02 | 杭州迅蚁网络科技有限公司 | Calibration method and device for installation angle of magnetometer and camera of unmanned aerial vehicle |
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Application publication date: 20180828 |