CN110567493B - Magnetometer calibration data acquisition method and device and aircraft - Google Patents
Magnetometer calibration data acquisition method and device and aircraft Download PDFInfo
- Publication number
- CN110567493B CN110567493B CN201910838086.8A CN201910838086A CN110567493B CN 110567493 B CN110567493 B CN 110567493B CN 201910838086 A CN201910838086 A CN 201910838086A CN 110567493 B CN110567493 B CN 110567493B
- Authority
- CN
- China
- Prior art keywords
- attitude
- aircraft
- preset
- magnetometer
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Abstract
The invention discloses a magnetometer calibration data acquisition method, a device and an aircraft, wherein the magnetometer calibration data acquisition method is applied to the aircraft, and the method comprises the following steps: acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft; judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters; if the current attitude of the fuselage is the preset attitude, controlling the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft so as to acquire a plurality of groups of magnetic data, wherein the sampling instruction is an instruction which is sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to perform data acquisition; calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value; and if the number of the acquired magnetic data exceeds the number threshold, outputting the multiple groups of magnetic data.
Description
Technical Field
The invention relates to the technical field of magnetic force calibration, in particular to a magnetometer calibration data acquisition method, a magnetometer calibration data acquisition device and an aircraft.
Background
The course control of the aircraft is directly related to the flight stability and the flight safety of the aircraft. Usually, the aircraft heading is obtained by fusing data of each sensor. In the three channel postures of the rolling angle, the pitching angle and the yawing angle of the aircraft, the yawing angle is also called a course angle, an initial value is given by the magnetometer, and other sensors perform later-stage correction on the initial value to finally obtain a fused course angle. Magnetometers measure geomagnetic field data, and the given sampled data is extremely susceptible to environment, so the given initial value of the data tends to deviate from the true heading.
The method comprises the steps that accurate course angle information can be obtained in the process of fusion of other sensor parameters and a course angle along with the flight of an aircraft, when the course angle has larger deviation with an initial course angle given by a magnetometer, the aircraft can greatly correct the course, and the course is reflected in the flying process, namely the course angle can have larger change, the flight slope is slightly increased, and the runaway fryer caused by the large correction of the course angle is seriously increased.
Therefore, how to obtain more accurate calibration data of the magnetometer to reduce the initial value error of the heading angle is an urgent technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a magnetometer calibration data acquisition method, a magnetometer calibration data acquisition device and an aircraft, and aims to acquire relatively accurate magnetometer calibration data.
In order to achieve the above object, the present invention provides a magnetometer calibration data acquisition method applied to an aircraft, where the aircraft is provided with a magnetometer, and the method includes:
acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft;
judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters;
if the current attitude of the fuselage is the preset attitude, controlling the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft so as to acquire a plurality of groups of magnetic data, wherein the sampling instruction is an instruction which is sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to perform data acquisition;
calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value;
and if the number of the acquired magnetic data exceeds the number threshold, outputting the multiple groups of magnetic data.
Preferably, the attitude parameter includes a roll angle, the preset attitude is that the body is parallel to the ground, and then, judging whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the roll angle is in a preset first angle value interval or not;
and if the angle value of the roll angle is in the first angle value interval, judging that the machine body is parallel to the ground.
Preferably, the attitude parameter includes a pitch angle, the preset attitude is that the body is parallel to the ground, and then, determining whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the pitch angle is within a preset second angle value range or not;
and if the angle value of the pitch angle is within the second angle value range, judging that the machine body is parallel to the ground.
Preferably, the attitude parameter includes a pitch angle, the preset attitude is that the body is perpendicular to the ground, and then, determining whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the pitch angle is within a preset third angle value interval or not;
and if the angle value of the pitch angle is within the third angle value interval, judging that the machine body is vertical to the ground.
Preferably, the aircraft is provided with an accelerometer, the attitude parameter includes a Z-axis output parameter of the accelerometer, the preset attitude is that the fuselage is perpendicular to the ground, then, according to the attitude parameter, whether the current attitude of the fuselage is the preset attitude or not is determined, including:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
Preferably, the controlling the magnetometer to perform data acquisition according to the sampling instruction and the acceleration of the aircraft to acquire a plurality of sets of magnetic data includes:
and controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data.
The invention also provides a magnetometer calibration data acquisition device, which is applied to an aircraft, wherein the aircraft is provided with a magnetometer, and the magnetometer calibration data acquisition device comprises:
the attitude acquisition module is used for acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft;
the judging module is used for judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters;
the acquisition module is used for controlling the magnetometer to acquire data according to a sampling instruction and the acceleration of the aircraft to acquire a plurality of groups of magnetic data if the current attitude of the fuselage is the preset attitude, wherein the sampling instruction is an instruction sent by a terminal device in communication connection with the aircraft to enable the magnetometer to acquire the data;
the counting module is used for calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value;
and the output module is used for outputting the multiple groups of magnetic data if the number of the acquired magnetic data exceeds the number threshold.
Preferably, the aircraft is provided with an accelerometer, the attitude parameter includes a Z-axis output parameter of the accelerometer, the preset attitude is that the fuselage is perpendicular to the ground, and the judgment module is used for:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
Preferably, the acquisition module is further configured to:
and controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data.
The invention also provides an aircraft, which comprises a fuselage, a magnetometer arranged on the fuselage, a horn connected with the fuselage, and a power device arranged on the horn, and the aircraft further comprises:
a memory and a processor;
the memory is used for storing a magnetometer calibration program executable by a computer;
the processor is configured to invoke an executable magnetometer calibration program stored in the memory to perform the aforementioned magnetometer calibration data collection method.
Compared with the existing design, the magnetometer calibration data acquisition method provided by the invention obtains the attitude parameter of the aircraft, wherein the attitude parameter is used for representing the current attitude of the fuselage of the aircraft; judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters; if the current attitude of the fuselage is the preset attitude, controlling the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft so as to acquire a plurality of groups of magnetic data, wherein the sampling instruction is an instruction which is sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to perform data acquisition; calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value; and if the number of the acquired magnetic data exceeds the number threshold, outputting the multiple groups of magnetic data.
That is, through the attitude parameter who obtains the aircraft, judge whether the aircraft accords with magnetic force parameter sampling condition according to the state parameter, if the aircraft accords with sampling condition, then according to sampling instruction and aircraft's acceleration control magnetometer carries out data acquisition in order to obtain multiunit magnetic force data, thereby ensure that magnetometer can collect multiunit magnetic force data comparatively in order, when the magnetic force data quantity that obtains reaches the default, output this multiunit magnetic force data, thereby can use the multiunit magnetic force data that obtains as the sample data initial value of magnetometer to calibrate the magnetometer, in order to improve magnetometer calibration result accuracy, thereby reduce or even avoid because the course angle error that the inaccurate result of magnetometer calibration result leads to.
Drawings
Fig. 1 is a schematic view of a scenario of a communication connection between an aircraft and a terminal device according to the present invention;
FIG. 2 is a flow chart illustrating the steps of a magnetometer calibration data acquisition method provided by the present invention;
FIG. 3A is a structural schematic of a fuselage attitude angle of an aircraft;
FIG. 3B is a schematic diagram of a positional coordinate relationship between the Z-axis of the aircraft body coordinate system and the Z-axis of the inertial coordinate system;
FIG. 4 is a schematic representation of a motion trajectory for magnetometer calibration by an aircraft provided by the present invention;
FIG. 5 is a block diagram of a calibration data acquisition device for a magnetometer according to the present invention;
fig. 6 is a block diagram schematically illustrating an aircraft according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a magnetometer calibration data acquisition method, a magnetometer calibration data acquisition device and an aircraft, wherein the method is used for acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of a fuselage of the aircraft; judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters; if the current attitude of the fuselage is the preset attitude, controlling the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft so as to acquire a plurality of groups of magnetic data, wherein the sampling instruction is an instruction which is sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to perform data acquisition; calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value; and if the number of the acquired magnetic data exceeds the number threshold, outputting the multiple groups of magnetic data.
That is, through the attitude parameter who obtains the aircraft, judge whether the aircraft accords with magnetic force parameter sampling condition according to the state parameter, if the aircraft accords with sampling condition, then according to sampling instruction and aircraft's acceleration control magnetometer carries out data acquisition in order to obtain multiunit magnetic force data, thereby ensure that magnetometer can collect multiunit magnetic force data comparatively in order, when the magnetic force data quantity that obtains reaches the default, output this multiunit magnetic force data, thereby can use the multiunit magnetic force data that obtains as the sample data initial value of magnetometer to calibrate the magnetometer, in order to improve magnetometer calibration result accuracy, thereby reduce or even avoid because the course angle error that the inaccurate result of magnetometer calibration result leads to.
Referring to fig. 1, the present invention provides an aircraft 10, where the aircraft 10 includes a fuselage 101, a horn 102 connected to the fuselage 101, a power device 103 disposed on the horn 102, and a control system (not shown) disposed on the fuselage 101. The power device 103 is used for providing thrust, lift and the like for the flight of the aircraft 10, and the control system is a central nerve of the aircraft 10 and may include a plurality of functional units, such as an flight control system, a path planning system and other systems with specific functions. The tracking system is used for obtaining the position and the tracking distance of the target to be tracked, namely the distance between the aircraft 10 and the target to be tracked. The flight control system includes various sensors such as a gyroscope, an accelerometer, a magnetometer, and the like, and is used to control the flight attitude of the aircraft 10 and the like. The path planning system is used for planning the flight path of the aircraft 10 based on the position of the tracking target and instructing the flight control system to control the flight attitude of the aircraft 10 so as to enable the aircraft 10 to fly according to the designated path.
In some application scenarios of the aircraft 10, the aircraft 10 is communicatively connected to the terminal device 20, and a user may send control commands to the aircraft 10 by manipulating the terminal device 20.
The terminal device 20 is, for example, a smart phone, a tablet computer, a remote controller, or the like. A user may interact with terminal device 20 through one or more user interaction devices of any suitable type, such as a mouse, buttons, touch screen, etc. The aircraft 10 and the terminal device 20 may establish a communication connection, upload or issue data/commands through wireless communication modules, such as signal receivers, signal transmitters, and the like, respectively arranged inside the aircraft and the terminal device.
Referring to fig. 2, the present invention provides a magnetometer calibration data collection method applied to an aircraft 10, the method comprising:
step S101: acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft.
Before the aircraft 10 is calibrated by the magnetometer, it is necessary to ensure that the attitude of the aircraft 10 conforms to a preset attitude, so as to facilitate calibration of the magnetometer in the sensor assembly, the sensor assembly arranged in the aircraft 10 is used to obtain an attitude parameter of the aircraft 10, the attitude parameter is used to represent the current attitude of the fuselage 101 of the aircraft 10, and the flight control system of the aircraft 10 can determine whether the attitude of the aircraft 10 is the preset attitude according to the obtained attitude parameter.
Step S102: and judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters, if so, executing the step S103, and if not, returning to execute the step S101.
In some embodiments, the attitude parameter includes a roll angle, and the preset attitude is that the body is parallel to the ground, and then, determining whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the roll angle is in a preset first angle value interval or not;
and if the angle value of the roll angle is in the first angle value interval, judging that the machine body is parallel to the ground.
Illustratively, the airframe 101 of the aircraft 10 is preset to be parallel to the ground when the roll angle α of the aircraft 10 is in a first angle value interval, wherein the first angle value interval may be [0-10 ° ], [0-20 ° ], or [0-30 ° ].
The aircraft 10 obtains relevant parameters through a built-in sensor, and obtains a roll angle alpha through calculation, if the roll angle alpha is in any one of the intervals of [0-10 ° ], [0-20 ° ] or [0-30 ° ], it indicates that the body 101 of the aircraft 10 is parallel to the ground, and as shown in fig. 3A, the roll angle alpha is an angle at which the aircraft 10 rolls along the X axis.
In some embodiments, the attitude parameter includes a pitch angle, and the preset attitude is that the body is parallel to the ground, and then, determining whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the pitch angle is within a preset second angle value range or not;
and if the angle value of the pitch angle is within the second angle value range, judging that the machine body is parallel to the ground.
Illustratively, the airframe 101 of the aircraft 10 is preset to be parallel to the ground when the pitch angle β of the aircraft 10 is in a second range of angular values, which may be [0-10 ° ], [0-20 ° ] or [0-30 ° ].
The aircraft 10 obtains relevant parameters through a built-in sensor, and obtains a pitch angle β through calculation, if the pitch angle β is in any one of the interval [0-10 ° ], [0-20 ° ] or [0-30 ° ], it indicates that the body 101 of the aircraft 10 is parallel to the ground, as shown in fig. 3A, the pitch angle β is an angle at which the aircraft 10 tilts when rotating along the Y axis.
In some embodiments, the attitude parameter includes a pitch angle, and the preset attitude is that the body is perpendicular to the ground, then, determining whether the current attitude of the body is the preset attitude according to the attitude parameter includes:
judging whether the angle value of the pitch angle is within a preset third angle value interval or not;
and if the angle value of the pitch angle is within the third angle value interval, judging that the machine body is vertical to the ground.
For example, the airframe 101 of the aircraft 10 is parallel to the ground when the pitch angle β of the aircraft 10 is preset to a third angular interval, wherein the third angular interval may be [70-80 ° ] or [70-90 ° ].
The aircraft 10 acquires relevant parameters through a built-in sensor, and acquires a pitch angle β through calculation, if the pitch angle β is in any one of the interval of [70-80 ° ] or [70-90 ° ], it indicates that the body 101 of the aircraft 10 is parallel to the ground, as shown in fig. 3A, the pitch angle β is the tilting angle of the aircraft 10 when rotating along the Y axis.
In some embodiments, the aircraft is provided with an accelerometer, the attitude parameter includes a Z-axis output parameter of the accelerometer, the preset attitude is that the fuselage is perpendicular to the ground, and then, determining whether the current attitude of the fuselage is the preset attitude according to the attitude parameter includes:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
Illustratively, the aircraft 10 has a body coordinate system, and a Z-axis of the body coordinate system of the aircraft 10 forms an angle θ with a Z-axis of the inertial coordinate system when a body of the aircraft 10 is perpendicular to the ground, and θ is 90 °. Thus, the attitude of the fuselage 101 of the aircraft 10 may be analyzed from the change in the Z-axis of the fuselage coordinate system of the aircraft 10 at an angle θ to the Z-axis of the inertial coordinate system. Wherein, the Z axis of the body coordinate system of the aircraft 10 and the Z axis of the inertial coordinate system form an included angle theta and change, and parameters, namely Z axis readings of the accelerometer, can be output from the Z axis of the accelerometer in the sensor assembly.
The preset attitude will be described as an example in which the body 101 is perpendicular to the ground.
As shown in fig. 3B, Zb is the Z-axis of the aircraft system, Zo is the Z-axis of the inertial system, an included angle θ is formed between Zb and Zo, a projection of Zo on Zb is OA, cos θ |/| Zo |, where | Zo | corresponds to the gravitational acceleration g, i OA | is the acceleration a of the aircraft 10 on the Z-axis of the aircraft systemz。
I.e. the acceleration of gravity g and the acceleration of the accelerometer in the Z-direction a, while the aircraft 10 is in flightzSatisfies the following conditions: cos θ ═ azG, i.e. theta ═ arccos azIn which the acceleration azCan be read from an accelerometer, i.e. angle theta or acceleration azThe fuselage 101 of the aircraft 10 may be fed back as an acceleration parameter perpendicular to the ground.
Typically, the airframe 101 of the aircraft 10 is not perfectly perpendicular to the ground, i.e., the angle θ typically does not reach 90 °. When the included angle theta exceeds a preset included angle value, the aircraft 10 can be considered to be vertical to the ground, wherein the preset included angle value is 70-90 degrees,that is, θ is greater than 70 °, the aircraft 10 can be considered to be perpendicular to the ground, that is, the attitude of the fuselage 101 of the aircraft 10 is a preset attitude, that is, the Z-axis output parameter azWhen the acceleration threshold g × cos70 ° is smaller, the attitude of the fuselage 101 of the aircraft 10 is a preset attitude, and the gravitational acceleration g is set according to the latitude of the location where the aircraft 10 is calibrated.
For example, Guangzhou g-9.788 m/s2Wuhan g is 9.794m/s2Tokyo g-9.798 m/s2New york g 9.803m/s2Moscog-9.816 m/s2。
When the Z axis outputs the parameter azAnd when the acceleration value is less than the acceleration threshold value g × cos70 degrees, calculating the maintaining time t of the Z-axis output parameter of the accelerometer, and avoiding the influence of external interference factors on the Z-axis degree of the accelerometer. If the maintaining time T exceeds the preset time threshold T, the body 101 is determined to be perpendicular to the ground, and the time threshold T may be set to 1s-5s as required.
In some embodiments, the gravity acceleration g can be 9.7-10m/s2In the meantime.
Step S103: and controlling the magnetometer to acquire data according to a sampling instruction and the acceleration of the aircraft so as to acquire multiple groups of magnetic data, wherein the sampling instruction is an instruction sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to acquire data.
In some embodiments, the controlling the magnetometer to perform data acquisition according to the sampling instruction and the acceleration of the aircraft to acquire multiple sets of magnetic data includes:
and controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data.
Acceleration a in the Z-axis direction output by the accelerometer in this embodimentzThe description is given for the sake of example.
Illustratively, when the attitude of the fuselage 101 of the aircraft 10 meets the magnetic data sampling requirement, the user flies to the aircraft through the terminal device 20The aircraft 10 sends a sampling instruction, the aircraft 10 receives the sampling instruction, and controls the magnetometer to sample the magnetic data, obtain a first set of magnetic data and acquire the acceleration a in the Z-axis direction when the first set of magnetic data is acquiredz. And real-time monitoring and acquiring acceleration a output by the accelerometer in the Z-axis directionzAnd controls the magnetometer to perform said acceleration azAnd sampling data once when the preset variable quantity is changed once to acquire a plurality of groups of magnetic data. Wherein the predetermined variation can be adjusted as required, for example, if the predetermined variation is g × cos0.7 °, azThe magnetometer performs data sampling every time the change g × cos is 0.7 °, i.e. the acceleration of gravity g and the acceleration of the accelerometer in the Z-axis direction azSatisfies the following conditions: cos θ ═ azG, i.e. theta ═ arccos azThe data is sampled once by the magnetometer with the/g being 0.7 degrees.
As shown in fig. 4, the aircraft 10 is calibrated by an external force along the trajectory a by an 8-shaped magnetic force. The mode that makes aircraft 10 draw "8" word through external force controls magnetometer and carries out data acquisition promptly to evenly acquire earth magnetism data, thereby make earth magnetism calibration result comparatively accurate.
Step S104: calculating whether the number of the acquired magnetic data exceeds a preset number threshold, if so, executing step S105, and if not, executing step S103.
Step S105: and outputting the multiple groups of magnetic force data.
For example, a threshold of the number of sets of magnetic data samples is set to 200 sets, and when the number of sets of magnetic data obtained by the magnetometer reaches 200 sets, the magnetic data sampling is stopped, and the 200 sets of magnetic data are output, please refer to fig. 5, the present invention further provides a magnetometer calibration data collecting device 20, where the magnetometer calibration data collecting device 20 is applied to an aircraft 10, the aircraft 10 is provided with a magnetometer, and the magnetometer calibration data collecting device 20 includes:
the attitude acquisition module 201 is configured to acquire an attitude parameter of the aircraft, where the attitude parameter is used to represent a current attitude of a fuselage of the aircraft;
a judging module 202, configured to judge whether the current posture of the fuselage is a preset posture according to the posture parameter;
the acquisition module 203 is configured to control the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft to acquire multiple sets of magnetic data if the current attitude of the fuselage is the preset attitude, where the sampling instruction is an instruction sent by a terminal device in communication connection with the aircraft to enable the magnetometer to perform data acquisition;
the counting module 204 is configured to calculate whether the number of sets of the acquired magnetic data exceeds a preset number-of-sets threshold;
an output module 205, configured to output the multiple sets of magnetic force data if the number of sets of the acquired magnetic force data exceeds the number-of-sets threshold.
In some embodiments, the attitude parameter includes a roll angle, the preset attitude is that the body is parallel to the ground, and the determining module 202 is further configured to:
judging whether the angle value of the roll angle is in a preset first angle value interval or not;
and if the angle value of the roll angle is in the first angle value interval, judging that the machine body is parallel to the ground.
In some embodiments, the attitude parameter includes a pitch angle, the preset attitude is that the body is parallel to the ground, and the determining module 202 is further configured to:
judging whether the angle value of the pitch angle is within a preset second angle value range or not;
and if the angle value of the pitch angle is within the second angle value range, judging that the machine body is parallel to the ground.
In some embodiments, the attitude parameter includes a pitch angle, the preset attitude is that the body is perpendicular to the ground, and the determining module 202 is further configured to:
judging whether the angle value of the pitch angle is within a preset third angle value interval or not;
and if the angle value of the pitch angle is within the third angle value interval, judging that the machine body is vertical to the ground.
In some embodiments, the aircraft is provided with an accelerometer, the attitude parameter includes a Z-axis output parameter of the accelerometer, the preset attitude is that the fuselage is perpendicular to the ground, and the determining module 202 is further configured to:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
In some embodiments, the acquisition module 203 is further configured to:
and controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data.
In some embodiments, the aircraft 10 further includes a memory 104, a processor 105, and a bus 106, and the power plant 103 and the memory 104 are electrically coupled to the processor 105 via the bus 106.
The memory 104 includes at least one type of readable storage medium, which includes flash memory, hard disk, multi-media card, card-type memory (e.g., SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, and the like. The memory 104 may be an internal storage unit of the aircraft 10 in some embodiments, illustratively a hard disk of the aircraft 10. The memory 104 may also be an external storage device of the aircraft 10 in other embodiments, illustratively a plug-in hard drive provided on the aircraft 10, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like. The memory 104 may be used not only to store application software installed on the aircraft 10 and various types of data, illustratively the code of a computer readable program or the like, such as a magnetometer calibration program, i.e., the memory 104 may serve as a storage medium.
The processor 105 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip in some embodiments, and the processor 105 may call program codes or Processing data stored in the memory 104 to implement the magnetometer calibration data collecting method described above.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent flow transformations that may be applied to the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. A magnetometer calibration data acquisition method applied to an aircraft provided with a magnetometer, characterized in that the method comprises:
acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft; when the attitude parameters comprise a roll angle, presetting an attitude that the body is parallel to the ground; when the attitude parameters comprise a pitch angle, the preset attitude is that the machine body is parallel to the ground; when the attitude parameters comprise a pitch angle, the preset attitude is that the machine body is vertical to the ground;
judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters; the aircraft is provided with an accelerometer, the attitude parameter comprises a Z-axis output parameter of the accelerometer, and the preset attitude is that the aircraft body is vertical to the ground;
if the current attitude of the fuselage is the preset attitude, controlling the magnetometer to perform data acquisition according to a sampling instruction and the acceleration of the aircraft so as to acquire a plurality of groups of magnetic data, wherein the sampling instruction is an instruction which is sent by a terminal device in communication connection with the aircraft so as to enable the magnetometer to perform data acquisition;
calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value;
if the number of the acquired magnetic data exceeds the number threshold, outputting the multiple groups of magnetic data; the step of controlling the magnetometer to acquire data according to the sampling instruction and the acceleration of the aircraft to acquire a plurality of groups of magnetic data comprises the following steps:
and controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data.
2. The method of claim 1, wherein the attitude parameter comprises a roll angle, and when the preset attitude is that the body is parallel to the ground, the determining whether the current attitude of the body is a preset attitude according to the attitude parameter comprises:
judging whether the angle value of the roll angle is in a preset first angle value interval or not;
and if the angle value of the roll angle is in the first angle value interval, judging that the machine body is parallel to the ground.
3. The method of claim 1, wherein the attitude parameter comprises a pitch angle, and when the preset attitude is that the body is parallel to the ground, the determining whether the current attitude of the body is a preset attitude according to the attitude parameter comprises:
judging whether the angle value of the pitch angle is within a preset second angle value range or not;
and if the angle value of the pitch angle is within the second angle value range, judging that the machine body is parallel to the ground.
4. The method of claim 1, wherein the attitude parameter comprises a pitch angle, and when the predetermined attitude is that the body is perpendicular to the ground, the determining whether the current attitude of the body is the predetermined attitude according to the attitude parameter comprises:
judging whether the angle value of the pitch angle is within a preset third angle value interval or not;
and if the angle value of the pitch angle is within the third angle value interval, judging that the machine body is vertical to the ground.
5. The method of claim 1, wherein the attitude parameter comprises a Z-axis output parameter of the accelerometer, and the determining whether the current attitude of the fuselage is a preset attitude according to the attitude parameter when the preset attitude is that the fuselage is perpendicular to the ground comprises:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
6. The utility model provides a magnetometer calibration data collection system, is applied to the aircraft, the aircraft is provided with the magnetometer, its characterized in that, magnetometer calibration data collection system includes:
the attitude acquisition module is used for acquiring attitude parameters of the aircraft, wherein the attitude parameters are used for representing the current attitude of the fuselage of the aircraft;
the judging module is used for judging whether the current posture of the fuselage is a preset posture or not according to the posture parameters; when the attitude parameter comprises a roll angle, the preset attitude is that the machine body is parallel to the ground; when the attitude parameters comprise a pitch angle, the preset attitude is that the machine body is parallel to the ground; when the attitude parameters comprise a pitch angle, the preset attitude is that the machine body is vertical to the ground; the aircraft is provided with an accelerometer, the attitude parameter comprises a Z-axis output parameter of the accelerometer, and the preset attitude is that the aircraft body is vertical to the ground;
the acquisition module is used for controlling the magnetometer to acquire data according to a sampling instruction and the acceleration of the aircraft to acquire a plurality of groups of magnetic data if the current attitude of the fuselage is the preset attitude, wherein the sampling instruction is an instruction sent by a terminal device in communication connection with the aircraft to enable the magnetometer to acquire the data; the acquisition module is further configured to:
controlling the magnetometer to collect a first group of magnetic data according to the sampling instruction, and controlling the magnetometer to sample next magnetic data when the acceleration changes once by a preset variation so as to obtain the multiple groups of magnetic data;
the counting module is used for calculating whether the group number of the acquired magnetic data exceeds a preset group number threshold value;
and the output module is used for outputting the multiple groups of magnetic data if the number of the acquired magnetic data exceeds the number threshold.
7. The magnetometer calibration data acquisition device of claim 6 wherein the attitude parameters comprise Z-axis output parameters of the accelerometer, and wherein the determination module is configured to, when the predetermined attitude is that the body is perpendicular to the ground:
judging whether the Z-axis output parameter of the accelerometer exceeds an acceleration parameter threshold value;
if the Z-axis output parameter of the accelerometer exceeds the acceleration parameter threshold, calculating the maintenance time of the Z-axis output parameter of the accelerometer;
judging whether the maintaining time exceeds a preset time threshold value or not;
and if the maintaining time exceeds the time threshold, judging that the machine body is vertical to the ground.
8. The utility model provides an aircraft, aircraft includes the fuselage, set up in the magnetometer of fuselage, with the horn that the fuselage links to each other, set up in the power device of horn, its characterized in that, aircraft still includes:
a memory and a processor;
the memory is used for storing a magnetometer calibration program executable by a computer;
the processor is configured to invoke an executable magnetometer calibration program stored in the memory to perform the magnetometer calibration data collection method of any of claims 1-5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838086.8A CN110567493B (en) | 2019-09-05 | 2019-09-05 | Magnetometer calibration data acquisition method and device and aircraft |
| PCT/CN2020/122386 WO2021043328A1 (en) | 2019-09-05 | 2020-10-21 | Magnetometer calibration data acquisition method and device, and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910838086.8A CN110567493B (en) | 2019-09-05 | 2019-09-05 | Magnetometer calibration data acquisition method and device and aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110567493A CN110567493A (en) | 2019-12-13 |
| CN110567493B true CN110567493B (en) | 2021-08-17 |
Family
ID=68778056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910838086.8A Active CN110567493B (en) | 2019-09-05 | 2019-09-05 | Magnetometer calibration data acquisition method and device and aircraft |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110567493B (en) |
| WO (1) | WO2021043328A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110567493B (en) * | 2019-09-05 | 2021-08-17 | 深圳市道通智能航空技术股份有限公司 | Magnetometer calibration data acquisition method and device and aircraft |
| CN112762965B (en) * | 2021-04-08 | 2021-09-07 | 北京三快在线科技有限公司 | Magnetometer calibration method and device |
| CN114199220A (en) * | 2022-02-17 | 2022-03-18 | 深圳市边界智控科技有限公司 | Unmanned aerial vehicle air online magnetic compass calibration method and device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842094A (en) * | 2016-12-31 | 2017-06-13 | 深圳市优必选科技有限公司 | The data processing method and device of magnetometer calibration |
| CN107580268A (en) * | 2017-08-04 | 2018-01-12 | 歌尔科技有限公司 | A kind of head pose detection method, device and earphone |
| CN109297476A (en) * | 2017-07-24 | 2019-02-01 | 深圳市道通智能航空技术有限公司 | Calibration, sampling and the azimuth of magnetometer determine method and apparatus |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130245984A1 (en) * | 2010-11-17 | 2013-09-19 | Hillcrest Laboratories, Inc. | Apparatuses and methods for magnetometer alignment calibration without prior knowledge of the local magnetic field |
| US9255799B2 (en) * | 2012-06-14 | 2016-02-09 | Yost Labs Inc. | Determining and correcting error of positional vector-valued sensors using a fixed angle calibration process |
| CN103575293B (en) * | 2012-07-25 | 2016-08-10 | 华为终端有限公司 | A kind of magnetometer deflection bearing calibration and magnetometer |
| US20140051517A1 (en) * | 2012-08-17 | 2014-02-20 | Microsoft Corporation | Dynamic magnetometer calibration |
| US9157747B2 (en) * | 2013-03-15 | 2015-10-13 | Innovative Solutions And Support, Inc. | Method of calibrating a heading reference system |
| US20150019159A1 (en) * | 2013-07-15 | 2015-01-15 | Honeywell International Inc. | System and method for magnetometer calibration and compensation |
| US10339708B2 (en) * | 2016-11-01 | 2019-07-02 | Google Inc. | Map summarization and localization |
| CN107907142B (en) * | 2017-10-12 | 2020-09-11 | 歌尔科技有限公司 | Initial calibration method and device for magnetometer and magnetometer |
| CN110567493B (en) * | 2019-09-05 | 2021-08-17 | 深圳市道通智能航空技术股份有限公司 | Magnetometer calibration data acquisition method and device and aircraft |
-
2019
- 2019-09-05 CN CN201910838086.8A patent/CN110567493B/en active Active
-
2020
- 2020-10-21 WO PCT/CN2020/122386 patent/WO2021043328A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106842094A (en) * | 2016-12-31 | 2017-06-13 | 深圳市优必选科技有限公司 | The data processing method and device of magnetometer calibration |
| CN109297476A (en) * | 2017-07-24 | 2019-02-01 | 深圳市道通智能航空技术有限公司 | Calibration, sampling and the azimuth of magnetometer determine method and apparatus |
| CN107580268A (en) * | 2017-08-04 | 2018-01-12 | 歌尔科技有限公司 | A kind of head pose detection method, device and earphone |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110567493A (en) | 2019-12-13 |
| WO2021043328A1 (en) | 2021-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110567493B (en) | Magnetometer calibration data acquisition method and device and aircraft | |
| WO2021031974A1 (en) | Method for selecting initial value of course angle of unmanned aerial vehicle and unmanned aerial vehicle | |
| WO2021078002A1 (en) | Method and device for selecting initial value of heading angle of unmanned aerial vehicle, and unmanned aerial vehicle | |
| WO2021031975A1 (en) | Method and device for determining heading of unmanned aerial vehicle, and unmanned aerial vehicle | |
| CN103591955B (en) | Integrated navigation system | |
| CN107389968B (en) | Unmanned aerial vehicle fixed point implementation method and device based on optical flow sensor and acceleration sensor | |
| CN108801250B (en) | Real-time attitude acquisition method and device based on underwater robot | |
| CN103712598A (en) | Attitude determination system and method of small unmanned aerial vehicle | |
| CN105910593A (en) | Method and apparatus for calibrating geomagnetic sensor of terminal | |
| CN108444468B (en) | Directional compass integrating downward vision and inertial navigation information | |
| CN110658831A (en) | Ground altitude correction method and device and unmanned aerial vehicle | |
| CN106468563A (en) | A kind of airborne Magnetic Sensor online calibration method | |
| CN106647785B (en) | Unmanned aerial vehicle parking apron control method and device | |
| CN111366154A (en) | Course angle determining method and device and electronic equipment | |
| CN111932637B (en) | Vehicle body camera external parameter self-adaptive calibration method and device | |
| CN112073577B (en) | Terminal control method and device, terminal equipment and storage medium | |
| CN206057971U (en) | A kind of low latitude unmanned plane balance system | |
| CN112154480B (en) | Positioning method and device for movable platform, movable platform and storage medium | |
| CN112639399A (en) | Height detection method, compensation amount determination method and device and unmanned aerial vehicle | |
| CN106707906A (en) | Attitude monitoring system of quadrotor aircraft | |
| CN109297476B (en) | Magnetometer calibration, sampling and azimuth determination methods and apparatus | |
| WO2021223122A1 (en) | Aircraft positioning method and apparatus, aircraft, and storage medium | |
| CN108801260B (en) | Data processing method and device based on underwater robot | |
| CN114199220A (en) | Unmanned aerial vehicle air online magnetic compass calibration method and device | |
| CN107588773A (en) | A kind of multi-node collaborative air navigation aid based on dead reckoning and ranging information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant after: Shenzhen daotong intelligent Aviation Technology Co.,Ltd. Address before: 518055 Shenzhen, Guangdong, Nanshan District Xili street, No. 1001, Zhiyuan Road, B1 9. Applicant before: AUTEL ROBOTICS Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |