CN114812532A - Magnetic compass parameter calibration method, unmanned aerial vehicle course angle determination method and device - Google Patents
Magnetic compass parameter calibration method, unmanned aerial vehicle course angle determination method and device Download PDFInfo
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- 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
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- G01C1/00—Measuring angles
Abstract
The invention provides a calibration method of magnetic compass parameters, a method and a device for determining a course angle of an unmanned aerial vehicle, which comprise the following steps: acquiring first actual geomagnetic data acquired by an electronic magnetic compass to be calibrated; calibrating magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data, and determining initial parameter values of the magnetic compass parameters; and carrying out normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter. The invention can obviously improve the safety and the intelligent level of the self calibration of the magnetic compass parameters.
Description
Technical Field
The invention relates to the technical field of inertial navigation, in particular to a calibration method of magnetic compass parameters and a method and a device for determining a course angle of an unmanned aerial vehicle.
Background
At present, the following two main types of magnetic compass calibration methods exist: one is to use a combination of a magnetic compass, a GPS (Global Positioning System), an IMU (Inertial Measurement Unit), and the like for calibration, however, GPS signals are easily blocked and the IMU is easily subjected to error accumulation. Therefore, in order to ensure the safety of the unmanned aerial vehicle, at least another type of magnetic compass self-calibration mode needs to be adopted to correct the navigation parameters.
The existing magnetic compass self-calibration mode mainly adopts a multi-surface ellipsoid fitting calibration algorithm, and when the magnetic compass is used between places with large latitude and longitude spans (such as province crossing and country crossing), the magnetic compass in the unmanned aerial vehicle needs to be calibrated again. In conclusion, the safety and the intelligence level of the self-calibration mode of the existing magnetic compass still have a promotion space.
Disclosure of Invention
In view of this, the present invention provides a method for calibrating magnetic compass parameters, a method for determining a heading angle of an unmanned aerial vehicle, and a device thereof, which can significantly improve the security and intelligence level of the self-calibration of the magnetic compass parameters.
In a first aspect, an embodiment of the present invention provides a method for calibrating a magnetic compass parameter, including: acquiring first actual geomagnetic data acquired by an electronic magnetic compass to be calibrated; calibrating magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data, and determining initial parameter values of the magnetic compass parameters; and carrying out normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter.
In one embodiment, the electronic magnetic compass is disposed in an unmanned aerial vehicle; before the acquiring of the first actual geomagnetic data acquired by the electronic magnetic compass to be calibrated, the method includes: controlling the unmanned aerial vehicle to move to a specified scene; the scene hard magnetic interference value of the specified scene is smaller than a preset interference value threshold; controlling the drone to rotate at a specified plane in the specified scene; the number of the designated planes is multiple, and any two designated planes are vertical to each other; and in the rotation process of the unmanned aerial vehicle, controlling the electronic magnetic compass to acquire first actual geomagnetic data at the designated plane.
In one embodiment, the calibrating the magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data, and determining the initial parameter values of the magnetic compass parameters includes: fitting an elliptical geomagnetic model corresponding to the electronic magnetic compass based on the first actual geomagnetic data; calculating initial parameter values of magnetic compass parameters of the electronic magnetic compass according to a pre-established magnetic compass model and the elliptical geomagnetic model; the magnetic compass model is used for representing a mapping relation between ideal geomagnetic data and the first actual geomagnetic data.
In one embodiment, the fitting an elliptic geomagnetism model corresponding to the electronic magnetic compass based on the first actual geomagnetism data includes: acquiring a preset ellipsoid equation and a constraint condition set corresponding to the ellipsoid equation; wherein the constraint condition set is used for constraining equation coefficients of the ellipsoid equation; constructing a Lagrangian function corresponding to the ellipsoid equation based on the constraint condition set; calculating partial derivatives of the equation coefficients in the Lagrangian function to obtain target coefficient values corresponding to the equation coefficients; and constructing an elliptic geomagnetic model corresponding to the electronic magnetic compass according to the ellipsoidal equation and the target coefficient value corresponding to the equation coefficient.
In one embodiment, the magnetic compass parameters include hard magnetic disturbance parameters and soft magnetic disturbance parameters; the calculating the initial parameter value of the magnetic compass parameter of the electronic magnetic compass according to the pre-established magnetic compass model and the elliptical geomagnetic model comprises the following steps: integrating the magnetic compass model established in advance with the elliptical geomagnetic model to obtain an equation set corresponding to the magnetic compass parameters; wherein the unknowns of the equation set are the hard magnetic disturbance parameter and the soft magnetic disturbance parameter; solving the unknown number of the equation set to obtain an initial parameter value of the magnetic compass parameter of the electronic magnetic compass; wherein the initial parameter values include an initial hard magnetic interference value and an initial soft magnetic interference value.
In one embodiment, the normalizing the initial parameter value to obtain the target parameter value of the magnetic compass parameter includes: normalizing the initial soft magnetic interference value to obtain a target soft magnetic interference value of the soft magnetic interference parameter; the difference value between the target soft magnetic interference value of the diagonal parameter in the soft magnetic interference parameter and the value 1 is smaller than a first threshold value, and the difference value between the target soft magnetic interference value of the other parameters except the diagonal parameter in the soft magnetic interference parameter and the value 0 is smaller than a second threshold value.
In one embodiment, after the normalizing the initial parameter value to obtain the target parameter value of the magnetic compass parameter, the method further includes: and sending the target parameter value to the unmanned aerial vehicle provided with the electronic magnetic compass so that the unmanned aerial vehicle stores the target parameter value.
In a second aspect, an embodiment of the present invention further provides a method for determining a heading angle of an unmanned aerial vehicle, including: acquiring second actual geomagnetic data acquired by an electronic magnetic compass arranged by the unmanned aerial vehicle; wherein, the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained according to the calibration method of the magnetic compass parameter provided by the first aspect; determining a current declination of the unmanned aerial vehicle according to a preset geomagnetic model; and calculating the current heading angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination and the target parameter value.
In a third aspect, an embodiment of the present invention further provides a calibration apparatus for magnetic compass parameters, including: the first acquisition module is used for acquiring first actual geomagnetic data acquired by the electronic magnetic compass to be calibrated; the parameter calibration module is used for calibrating the magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data and determining initial parameter values of the magnetic compass parameters; and the parameter normalization module is used for performing normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter.
In a fourth aspect, an embodiment of the present invention further provides a device for determining a heading angle of an unmanned aerial vehicle, including: the second acquisition module is used for acquiring second actual geomagnetic data acquired by an electronic magnetic compass arranged by the unmanned aerial vehicle; wherein, the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained according to the calibration method of the magnetic compass parameter provided by the first aspect; the magnetic declination determining module is used for determining the current magnetic declination of the unmanned aerial vehicle according to a preset geomagnetic model; and the course angle calculation module is used for calculating the current course angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination and the target parameter value.
In a fifth aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, where the memory stores computer-executable instructions capable of being executed by the processor, and the processor executes the computer-executable instructions to implement any one of the calibration methods for magnetic compass parameters provided in the first aspect, or executes the computer-executable instructions to implement the determination method for the heading angle of the unmanned aerial vehicle provided in the second aspect.
In a sixth aspect, the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, which when invoked and executed by a processor, cause the processor to implement the method for calibrating magnetic compass parameters as set forth in any one of the first aspect, or cause the processor to implement the method for determining the heading angle of a drone as set forth in the second aspect.
According to the method and the device for calibrating the magnetic compass parameters, first actual geomagnetic data acquired by an electronic magnetic compass to be calibrated is acquired, then the magnetic compass parameters of the electronic magnetic compass are calibrated based on the first actual geomagnetic data, initial parameter values of the magnetic compass parameters are determined, and finally the initial parameter values are normalized to obtain target parameter values of the magnetic compass parameters. According to the method, the initial parameter value is obtained by calibrating the magnetic compass parameter by utilizing the first actual geomagnetic data acquired by the electronic magnetic compass, and the initial parameter value is subjected to normalization processing, so that the magnetic compass parameter is not required to be re-calibrated when the magnetic compass is used in places with large latitude and longitude spans, such as across provinces and countries, and the safety and the intelligent level of the self-calibration of the magnetic compass parameter are obviously improved.
The method and the device for determining the heading angle of the unmanned aerial vehicle are characterized by firstly acquiring second actual geomagnetic data acquired by an electronic magnetic compass arranged by the unmanned aerial vehicle, obtaining target parameter values of magnetic compass parameters of the electronic magnetic compass according to the calibration method of the magnetic compass parameters provided by the first aspect, then determining the current heading angle of the unmanned aerial vehicle according to a preset geomagnetic model, and finally calculating the current heading angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current heading angle and the target parameter values. According to the method, the second actual geomagnetic data is calculated by using the electronic magnetic compass, the current declination is determined according to the preset geomagnetic model, so that the current heading angle of the unmanned aerial vehicle is calculated according to the target parameter value determined by the calibration method of the magnetic compass parameters, the second actual geomagnetic data and the current declination, the magnetic compass parameters are not required to be recalibrated when the unmanned aerial vehicle is used in places with large latitude and longitude spans, such as provinces across China, and the like, and the efficiency and the accuracy of determining the current heading angle are remarkably improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a calibration method for magnetic compass parameters according to an embodiment of the present invention;
FIG. 2 is a schematic view of the magnetic induction intensity of an electronic magnetic compass according to an embodiment of the present invention;
FIG. 3 is a schematic view of the magnetic induction intensity of another electronic magnetic compass according to the embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for determining a heading angle of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a method for determining a heading angle of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a calibration apparatus for magnetic compass parameters according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an apparatus for determining a heading angle of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the embodiments, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a magnetic compass self-calibration mode generally needs to calibrate 12 parameters, at least three surfaces of a rotating body are needed to obtain enough original data, and when the magnetic compass is used between places with large latitude and longitude spans (such as across provinces and countries), the magnetic compass needs to be recalibrated. To small-size many rotor unmanned aerial vehicle, the calibration can be accomplished to one-hand operation alone, to large-scale many rotors or compound wing unmanned aerial vehicle in the well, then need two at least people just can accomplish the calibration that the precision is good, and the calibration process is wasted time and energy. The related technology provides a self-correcting electronic compass and a correcting method thereof, the electronic magnetic compass does not need to be calibrated, is suitable for a plane moving carrier (such as an automobile) and is not suitable for an unmanned aerial vehicle moving in three axes in the air and in a large attitude; on the other hand, the method can achieve good precision only by requiring 6-8 electronic magnetic compasses, the weight is increased due to the increase of the quantity, and the method is not suitable for small unmanned aerial vehicles sensitive to endurance and weight.
Based on the method, the method and the device for calibrating the magnetic compass parameters and the method and the device for determining the unmanned aerial vehicle course angle are provided, and the safety and the intelligent level of the self-calibration of the magnetic compass parameters can be obviously improved.
To facilitate understanding of the present embodiment, first, a method for calibrating a magnetic compass parameter disclosed in the present embodiment is described in detail, and referring to a schematic flow chart of the method for calibrating a magnetic compass parameter shown in fig. 1, the method mainly includes the following steps S102 to S106:
step S102, acquiring first actual geomagnetic data acquired by an electronic magnetic compass to be calibrated. The electronic magnetic compass may be a three-axis geomagnetic sensor, and the first actual geomagnetic data may include geomagnetic data in three directions, i.e., an X axis, a Y axis, and a Z axis. In an implementation mode, the electronic magnetic compass can be arranged in the unmanned aerial vehicle, firstly controls the unmanned aerial vehicle to sail to a scene with weak hard magnetic interference, then controls the electronic magnetic compass to acquire first actual geomagnetic data in the scene, and finally receives first actual geomagnetic data fed back by the unmanned aerial vehicle.
And step S104, calibrating the magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data, and determining initial parameter values of the magnetic compass parameters. The magnetic compass parameters comprise hard magnetic interference parameters and soft magnetic interference parameters, and the initial parameter values are initial hard magnetic interference values and initial soft magnetic interference values. In an embodiment, an elliptical geomagnetic model corresponding to the electronic magnetic compass may be fitted based on the first actual geomagnetic data, and a pre-established magnetic compass model is combined, so that the initial hard magnetic interference value and the initial soft magnetic interference value may be obtained by solving.
And S106, carrying out normalization processing on the initial parameter values to obtain target parameter values of the magnetic compass parameters. Optionally, when the electronic magnetic compass collects first actual geomagnetic data in a scene with weak hard magnetic interference, the hard magnetic interference parameter can be ignored, the initial hard magnetic interference value is directly used as the target hard magnetic interference value, and in addition, the initial soft magnetic interference value is normalized, so that a corresponding target soft magnetic interference value can be obtained, and therefore the effect of avoiding calibration of soft magnetic interference in different places is achieved.
According to the method for calibrating the magnetic compass parameters, the magnetic compass parameters are calibrated by using the first actual geomagnetic data acquired by the electronic magnetic compass to obtain initial parameter values, and the initial parameter values are normalized, so that the magnetic compass parameters are not required to be recalibrated when the method is used in places with large latitude and longitude spans such as provinces and countries, and the safety and the intelligent level of the self-calibration of the magnetic compass parameters are obviously improved.
In one embodiment, the electronic magnetic compass may be disposed within an unmanned aerial vehicle. On this basis, the embodiment of the present invention provides an implementation manner of first actual geomagnetic data for electronic magnetic compass disabilities, which is described in the following (a) to (three):
and (I) controlling the unmanned aerial vehicle to move to a specified scene. And the scene hard magnetic interference value of the specified scene is smaller than a preset interference value threshold. In practical application, a scene with small hard magnetic interference can be selected, and the influence of the hard magnetic interference on the calibration process can be reduced as much as possible by controlling the unmanned aerial vehicle to be far away from the hard magnetic interference.
And (II) controlling the unmanned aerial vehicle to rotate at a specified plane in a specified scene. The number of the designated planes is multiple, and any two designated planes are perpendicular to each other. Illustratively, the number of designated planes may be three, including horizontal planes, lateral planes, and vertical planes.
And (III) controlling the electronic magnetic compass to acquire first actual geomagnetic data at the designated plane in the rotation process of the unmanned aerial vehicle. For example, taking a horizontal plane as an example, the unmanned aerial vehicle may be controlled to perform a rotation action (e.g., rotate one circle) at the horizontal plane, that is, the first geomagnetic data at the horizontal plane may be acquired. Fig. 2 shows first actual geomagnetic data at three planes, namely a horizontal plane, a lateral plane and a vertical plane.
Under an ideal magnetic field environment, first actual geomagnetic data (also called as triaxial geomagnetic data) measured by rotating an electronic magnetic compass at the same place is distributed on a spherical surface taking an origin as a spherical center and the geomagnetic intensity of the point as a radius, and soft magnetic interference and hard magnetic interference cause a spherical model to be deformed into an ellipsoid. The ellipsoidal parameters are fitted by a least square method, the ellipsoidal parameters can be calibrated into a spherical surface, and the soft magnetic interference parameters of the electronic magnetic compass can be further deduced. For convenience of understanding, an embodiment of the present invention provides an implementation manner of calibrating magnetic compass parameters of an electronic magnetic compass based on first actual geomagnetic data, and determining initial parameter values of the magnetic compass parameters, which is shown in the following steps 1 to 2:
step 1, fitting an elliptic geomagnetic model corresponding to the electronic magnetic compass based on the first actual geomagnetic data. In specific implementations, see step 1.1 to step 1.4 below:
step 1.1, acquiring a preset ellipsoid equation and a constraint condition set corresponding to the ellipsoid equation. And the constraint condition set is used for constraining the equation coefficients of the ellipsoid equation. Specifically, the ellipsoid is used as a general quadric surface, and the ellipsoid equation can be expressed as:
wherein the content of the first and second substances,
is the equation coefficient of the ellipsoid equation,
in the form of a vector of parameters,
the ellipsoid fitting problem is actually to solve the parameter vector
. Output from electronic magnetic compassThe n pieces of first actual geomagnetic data may be expressed as
，
. In addition, the set of constraints includes a geometric distance constraint and an ellipsoidal constraint. Wherein the distance constraint is used to make
Equation to ellipsoid
The sum of squares of the collective distances of (a), the geometric distance constraint is expressed as:
(ii) a The ellipsoidal constraint conditions are used to ensure that the fitting effect is ellipsoidal, and the ellipsoidal constraint conditions are expressed as:
and 1.2, constructing a Lagrangian function corresponding to the ellipsoid equation based on the constraint condition set. In an embodiment, a conditional optimization problem corresponding to an ellipsoid equation may be constructed based on a constraint condition set, and then a lagrangian function corresponding to the ellipsoid equation may be constructed based on the conditional optimization problem. Specifically, the ellipsoid fitting problem can be described as a conditional optimization problem, which is expressed as:
And step 1.3, solving partial derivatives of equation coefficients in the Lagrangian function to obtain target coefficient values corresponding to the equation coefficients. In one embodiment, the parameter vectors are separately aligned
And lagrange multiplier
Calculating a partial derivative to obtain a first expression as follows:
And step 1.4, constructing an elliptic geomagnetic model corresponding to the electronic magnetic compass according to the ellipsoidal equation and the target coefficient value corresponding to the equation coefficient. That is, the target coefficient value is substituted into the ellipsoid equation to obtain the elliptical geomagnetic model.
And 2, calculating initial parameter values of magnetic compass parameters of the electronic magnetic compass according to the pre-established magnetic compass model and the elliptical geomagnetic model. Wherein the magnetic compass model is used for representing a mapping relation between ideal geomagnetic data and first actual geomagnetic data, and the ideal geomagnetic data is exemplarily expressed as
Then, the expression of the magnetic compass model is as follows:
and 2.1, integrating the magnetic compass model and the elliptical geomagnetic model which are established in advance to obtain an equation set corresponding to the magnetic compass parameters. Wherein the unknowns of the set of equations are the hard magnetic disturbance parameter and the soft magnetic disturbance parameter. In one embodiment, the magnetic compass model is transformed, and the transformed magnetic compass model is represented as follows:
And 2.2, solving the unknowns of the equation set to obtain the initial parameter value of the magnetic compass parameter of the electronic magnetic compass. Wherein the initial parameter values include an initial hard magnetic interference value and an initial soft magnetic interference value. In practical application, the initial hard magnetic interference value can be obtained by combining the transformed magnetic compass model and the elliptic geomagnetic model
And initial soft magnetic interference value
：
for the foregoing step S106, the embodiment of the present invention provides a method for normalizing the initial parameter value to obtain a magnetic fieldThe implementation mode of the target parameter value of the compass parameter can normalize the initial soft magnetic interference value to obtain the target soft magnetic interference value of the soft magnetic interference parameter. Wherein the difference between the target soft magnetic interference value of the diagonal parameter in the soft magnetic interference parameter and the value 1 is smaller than a first threshold value, and the difference between the target soft magnetic interference value of the other parameters than the diagonal parameter in the soft magnetic interference parameter and the value 0 is smaller than a second threshold value, that is,
、
、
the distribution is in the vicinity of the value 1,
、
、
distributed around the value 0, such as another electron magnetic compass with a schematic magnetic induction shown in fig. 3, and fig. 3 shows the magnetic induction after the soft magnetic interference parameter is calibrated.
For ease of understanding, the above initial soft magnetic interference values are further simplified to yield:
wherein, in the step (A),
。
the heading angle may be obtained according to the following formula:
changing the above-mentioned elliptical geomagnetic model into tail 1 standard type
And
the proportional relationship of (A) is converted into:
now assume that the geomagnetic intensity at the point 1 is
Hard magnetic interference of
Soft magnetic interference of
The geomagnetic intensity at the site 2 is
Hard magnetic interference of
Soft magnetic interferenceIs composed of
And then:
from the above formula, although
However, the course angle calculation process may normalize the soft magnetic interference parameter. Starting from the geometry, after one-time calibration,
the ellipsoid is a sphere with the sphere center at the origin, the sphere center is changed only due to hard magnetic interference, and the calibration at different places is generated
But the three-axis distortion is not caused, and the calibration-free soft magnetic interference in different places can be realized through the spherical radius normalization processing. Starting from the magnetic compass principle, the soft magnetic interference mainly comes from the magnetic compass body, and after calibration, the soft magnetic interference parameters are generally not easy to change. Since each calibration site is chosen to be far from the site of the hard magnetic disturbance, the drone can ignore the hard magnetic disturbance parameter.
On the basis of the foregoing embodiment, the target parameter value may be sent to the drone provided with the electronic magnetic compass, so that the drone saves the target parameter value.
For convenience of understanding, an application example of the calibration method for the magnetic compass parameters is provided in the embodiments of the present invention, and the method mainly includes the following steps a to g:
step a, establishing a global geomagnetic model, and storing the global geomagnetic model in an unmanned aerial vehicle flight control and navigation system.
And b, acquiring first actual geomagnetic data of the scene with small hard magnetic interference by using an electronic magnetic compass in the unmanned aerial vehicle. In practical application, unmanned aerial vehicle horizontal direction, side direction, vertical rotatory round respectively, the triaxial earth magnetic energy that obtains more accurately fits the elliptic earth magnetic model.
And c, transmitting the first actual geomagnetic data to an unmanned aerial vehicle flight control and navigation system.
And d, obtaining an initial soft magnetic interference value and an initial hard magnetic interference value of factory calibration by adopting an ellipsoid fitting calibration algorithm based on a least square method.
And e, normalizing the initial soft magnetic interference value to obtain a target soft magnetic interference value.
And f, storing the initial hard magnetic interference value and the target soft magnetic interference value to an unmanned aerial vehicle flight control and navigation system, finishing factory calibration of the electronic magnetic compass, and not changing the installation position of the electronic magnetic compass.
And g, the unmanned aerial vehicle does not need to calibrate the magnetic compass parameters of the electronic magnetic compass again when being used at different places.
On the basis of the foregoing embodiment, an embodiment of the present invention further provides a method for determining a heading angle of an unmanned aerial vehicle, referring to a schematic flow chart of the method for determining a heading angle of an unmanned aerial vehicle shown in fig. 4, the method mainly includes the following steps S402 to S406:
step S402, second actual geomagnetic data collected by an electronic magnetic compass set by the unmanned aerial vehicle are obtained; the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained according to the calibration method of the magnetic compass parameter.
And S404, determining the current declination of the unmanned aerial vehicle according to a preset geomagnetic model. In one embodiment, the current declination may be determined directly based on a preset geomagnetic model.
Step S406, calculating the current heading angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination and the target parameter value. In one embodiment, the calculation may be performed based on the second actual geomagnetic data and the target parameter value
And
then the current declination is summed
Substituting into the following formula to obtain the current course angle
：
According to the method for determining the heading angle of the unmanned aerial vehicle, the second actual geomagnetic data is calculated by using the electronic magnetic compass, the current magnetic declination is determined according to the preset geomagnetic model, and therefore the current heading angle of the unmanned aerial vehicle is calculated according to the target parameter value, the second actual geomagnetic data and the current magnetic declination determined by the method for calibrating the magnetic compass parameters.
For convenience of understanding, an embodiment of the present invention further provides a schematic diagram of a method for determining a heading angle of an unmanned aerial vehicle, such as that shown in fig. 5, in a factory calibration stage, first actual geomagnetic data may be collected by using an electronic magnetic compass and transmitted to a flight control and navigation system of the unmanned aerial vehicle, so as to calibrate a soft magnetic interference parameter and a hard magnetic interference parameter; and in the use stage after leaving the factory, the electronic magnetic compass can be used for acquiring second actual geomagnetic data and transmitting the second actual geomagnetic data to the unmanned aerial vehicle flight control and navigation system so as to obtain the current magnetic declination in real time according to the global geomagnetic model and settle the current yaw angle according to the soft magnetic interference parameters and the current magnetic declination.
In summary, according to the calibration method for the magnetic compass parameters and the determination method for the heading angle of the unmanned aerial vehicle provided by the embodiments of the present invention, the unmanned aerial vehicle only needs one-time high-precision fitting calibration of the three-sided ellipsoid before leaving the factory, and in the subsequent use process, as long as the installation position of the electronic magnetic compass is not significantly changed, the recalibration is not needed, so that the autonomy of the unmanned aerial vehicle is improved, and meanwhile, the safety of the unmanned aerial vehicle is ensured.
For the calibration method of magnetic compass parameters provided in the foregoing embodiment, an embodiment of the present invention provides a calibration apparatus of magnetic compass parameters, see fig. 6 for a schematic structural diagram of the calibration apparatus of magnetic compass parameters, and the apparatus mainly includes the following components:
a first obtaining module 602, configured to obtain first actual geomagnetic data collected by an electronic magnetic compass to be calibrated;
the parameter calibration module 604 is configured to calibrate a magnetic compass parameter of the electronic magnetic compass based on the first actual geomagnetic data, and determine an initial parameter value of the magnetic compass parameter;
and the parameter normalization module 606 is used for performing normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter.
According to the calibration device for the magnetic compass parameters, the magnetic compass parameters are calibrated by using the first actual geomagnetic data acquired by the electronic magnetic compass to obtain the initial parameter values, and the initial parameter values are normalized, so that the magnetic compass parameters are not required to be recalibrated when the device is used in places with large latitude and longitude spans, such as provinces and countries, and the safety and the intelligent level of the self-calibration of the magnetic compass parameters are obviously improved.
In one embodiment, the electronic magnetic compass is disposed within the drone; the device also comprises a data acquisition module used for: controlling the unmanned aerial vehicle to move to a specified scene; the scene hard magnetic interference value of the specified scene is smaller than a preset interference value threshold; controlling the unmanned aerial vehicle to rotate at a designated plane in a designated scene; the number of the designated planes is multiple, and any two designated planes are vertical to each other; in the rotation process of the unmanned aerial vehicle, the electronic magnetic compass is controlled to collect first actual geomagnetic data at the designated plane.
In one embodiment, the parameter calibration module 604 is further configured to: fitting an elliptic geomagnetic model corresponding to the electronic magnetic compass based on the first actual geomagnetic data; calculating initial parameter values of magnetic compass parameters of the electronic magnetic compass according to a magnetic compass model and an elliptical geomagnetic model which are established in advance; the magnetic compass model is used for representing the mapping relation between the ideal geomagnetic data and the first actual geomagnetic data.
In one embodiment, the parameter calibration module 604 is further configured to: acquiring a preset ellipsoid equation and a constraint condition set corresponding to the ellipsoid equation; the constraint condition set is used for constraining equation coefficients of the ellipsoid equation; constructing a Lagrangian function corresponding to an ellipsoid equation based on the constraint condition set; solving a partial derivative of an equation coefficient in a Lagrange function to obtain a target coefficient value corresponding to the equation coefficient; and constructing an elliptic geomagnetic model corresponding to the electronic magnetic compass according to the ellipsoidal equation and the target coefficient value corresponding to the equation coefficient.
In one embodiment, the magnetic compass parameters include hard magnetic disturbance parameters and soft magnetic disturbance parameters; the parameter calibration module 604 is further configured to: integrating a magnetic compass model and an elliptical geomagnetic model which are established in advance to obtain an equation set corresponding to magnetic compass parameters; wherein the unknowns of the equation set are hard magnetic interference parameters and soft magnetic interference parameters; solving the unknown number of the equation set to obtain an initial parameter value of the magnetic compass parameter of the electronic magnetic compass; wherein the initial parameter values include an initial hard magnetic interference value and an initial soft magnetic interference value.
In one embodiment, the parameter normalization module 606 is further configured to: normalizing the initial soft magnetic interference value to obtain a target soft magnetic interference value of the soft magnetic interference parameter; the difference value between the target soft magnetic interference value of the diagonal parameter in the soft magnetic interference parameter and the value 1 is smaller than a first threshold value, and the difference value between the target soft magnetic interference value of the other parameters except the diagonal parameter in the soft magnetic interference parameter and the value 0 is smaller than a second threshold value.
In an embodiment, the apparatus further includes a parameter sending module, configured to: and sending the target parameter value to the unmanned aerial vehicle provided with the electronic magnetic compass so that the unmanned aerial vehicle stores the target parameter value.
As for the method for determining the heading angle of the unmanned aerial vehicle provided in the foregoing embodiment, an embodiment of the present invention provides a device for determining the heading angle of the unmanned aerial vehicle, and referring to a schematic structural diagram of the device for determining the heading angle of the unmanned aerial vehicle shown in fig. 7, the device mainly includes the following components:
a second obtaining module 702, configured to obtain second actual geomagnetic data collected by an electronic magnetic compass set by the unmanned aerial vehicle; the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained according to the calibration method of the magnetic compass parameter provided by the embodiment;
a declination determination module 704, configured to determine a current declination of the unmanned aerial vehicle according to a preset geomagnetic model;
and a heading angle calculation module 706, configured to calculate a current heading angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination, and the target parameter value.
According to the device for determining the heading angle of the unmanned aerial vehicle, the second actual geomagnetic data is calculated by using the electronic magnetic compass, the current magnetic declination is determined according to the preset geomagnetic model, and therefore the current heading angle of the unmanned aerial vehicle is calculated according to the target parameter value, the second actual geomagnetic data and the current magnetic declination determined by the calibration method of the magnetic compass parameters.
The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments.
The embodiment of the invention provides electronic equipment, which particularly comprises a processor and a storage device; the storage means has stored thereon a computer program which, when executed by the processor, performs the method of any of the above described embodiments.
Fig. 8 is a schematic structural diagram of an electronic device 100 according to an embodiment of the present invention, where the electronic device 100 includes: the device comprises a processor 80, a memory 81, a bus 82 and a communication interface 83, wherein the processor 80, the communication interface 83 and the memory 81 are connected through the bus 82; the processor 80 is arranged to execute executable modules, such as computer programs, stored in the memory 81.
The Memory 81 may include a high-speed Random Access Memory (RAM) and may also include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the network element of the system and at least one other network element is realized through at least one communication interface 83 (which may be wired or wireless), and the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 82 may be an ISA bus, PCI bus, EISA bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 8, but that does not indicate only one bus or one type of bus.
The memory 81 is used for storing a program, the processor 80 executes the program after receiving an execution instruction, and the method executed by the apparatus defined by the flow process disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 80, or implemented by the processor 80.
The processor 80 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 80. The Processor 80 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory 81, and the processor 80 reads the information in the memory 81 and performs the steps of the above method in combination with its hardware.
The computer program product of the readable storage medium provided in the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the foregoing method embodiment, which is not described herein again.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A calibration method for magnetic compass parameters is characterized by comprising the following steps:
acquiring first actual geomagnetic data acquired by an electronic magnetic compass to be calibrated;
calibrating magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data, and determining initial parameter values of the magnetic compass parameters;
and carrying out normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter.
2. The method for calibrating parameters of a magnetic compass according to claim 1, characterized in that said electronic magnetic compass is disposed in an unmanned aerial vehicle; before the acquiring of the first actual geomagnetic data acquired by the electronic magnetic compass to be calibrated, the method includes:
controlling the unmanned aerial vehicle to move to a specified scene; the scene hard magnetic interference value of the specified scene is smaller than a preset interference value threshold;
controlling the drone to rotate at a specified plane in the specified scene; the number of the designated planes is multiple, and any two designated planes are vertical to each other;
and in the rotation process of the unmanned aerial vehicle, controlling the electronic magnetic compass to acquire first actual geomagnetic data at the specified plane.
3. The method for calibrating magnetic compass parameters according to claim 1, wherein said calibrating magnetic compass parameters of said electronic magnetic compass based on said first actual geomagnetic data, determining initial parameter values of said magnetic compass parameters, comprises:
fitting an elliptic geomagnetic model corresponding to the electronic magnetic compass based on the first actual geomagnetic data;
calculating initial parameter values of magnetic compass parameters of the electronic magnetic compass according to a pre-established magnetic compass model and the elliptical geomagnetic model; the magnetic compass model is used for representing a mapping relation between ideal geomagnetic data and the first actual geomagnetic data.
4. The method for calibrating parameters of a magnetic compass according to claim 3, wherein said fitting an elliptic geomagnetism model corresponding to said electronic magnetic compass based on said first actual geomagnetism data comprises:
acquiring a preset ellipsoid equation and a constraint condition set corresponding to the ellipsoid equation; wherein the constraint condition set is used for constraining equation coefficients of the ellipsoid equation;
constructing a Lagrangian function corresponding to the ellipsoid equation based on the constraint condition set;
calculating partial derivatives of the equation coefficients in the Lagrangian function to obtain target coefficient values corresponding to the equation coefficients;
and constructing an elliptic geomagnetic model corresponding to the electronic magnetic compass according to the ellipsoidal equation and the target coefficient value corresponding to the equation coefficient.
5. The method of calibrating magnetic compass parameters of claim 3, wherein the magnetic compass parameters include hard magnetic disturbance parameters and soft magnetic disturbance parameters; the calculating the initial parameter value of the magnetic compass parameter of the electronic magnetic compass according to the pre-established magnetic compass model and the elliptical geomagnetic model comprises the following steps:
integrating the magnetic compass model established in advance with the elliptical geomagnetic model to obtain an equation set corresponding to the magnetic compass parameters; wherein the unknowns of the equation set are the hard magnetic disturbance parameter and the soft magnetic disturbance parameter;
solving the unknown number of the equation set to obtain an initial parameter value of the magnetic compass parameter of the electronic magnetic compass; wherein the initial parameter values include an initial hard magnetic interference value and an initial soft magnetic interference value.
6. The method for calibrating parameters of a magnetic compass according to claim 5, wherein said normalizing said initial parameter values to obtain target parameter values of said magnetic compass parameters comprises:
normalizing the initial soft magnetic interference value to obtain a target soft magnetic interference value of the soft magnetic interference parameter;
the difference value between the target soft magnetic interference value of the diagonal parameter in the soft magnetic interference parameter and the value 1 is smaller than a first threshold value, and the difference value between the target soft magnetic interference value of the other parameters except the diagonal parameter in the soft magnetic interference parameter and the value 0 is smaller than a second threshold value.
7. The method for calibrating parameters of a magnetic compass according to any one of claims 1-6, further comprising, after said normalizing said initial parameter values to obtain target parameter values of said magnetic compass parameters:
and sending the target parameter value to the unmanned aerial vehicle provided with the electronic magnetic compass so that the unmanned aerial vehicle stores the target parameter value.
8. A method for determining a course angle of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring second actual geomagnetic data acquired by an electronic magnetic compass arranged by the unmanned aerial vehicle; wherein the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained by the calibration method of the magnetic compass parameter according to any one of claims 1-7;
determining a current declination of the unmanned aerial vehicle according to a preset geomagnetic model;
and calculating the current heading angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination and the target parameter value.
9. An apparatus for calibrating parameters of a magnetic compass, comprising:
the first acquisition module is used for acquiring first actual geomagnetic data acquired by the electronic magnetic compass to be calibrated;
the parameter calibration module is used for calibrating the magnetic compass parameters of the electronic magnetic compass based on the first actual geomagnetic data and determining initial parameter values of the magnetic compass parameters;
and the parameter normalization module is used for performing normalization processing on the initial parameter value to obtain a target parameter value of the magnetic compass parameter.
10. An unmanned aerial vehicle course angle's confirming device which characterized in that includes:
the second acquisition module is used for acquiring second actual geomagnetic data acquired by an electronic magnetic compass arranged by the unmanned aerial vehicle; wherein the target parameter value of the magnetic compass parameter of the electronic magnetic compass is obtained by the calibration method of the magnetic compass parameter according to any one of claims 1-7;
the magnetic declination determining module is used for determining the current magnetic declination of the unmanned aerial vehicle according to a preset geomagnetic model;
and the course angle calculation module is used for calculating the current course angle of the unmanned aerial vehicle based on the second actual geomagnetic data, the current declination and the target parameter value.
11. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor to perform the method of calibrating magnetic compass parameters of any one of claims 1 to 7 or to perform the method of determining a heading angle of an unmanned aerial vehicle of claim 8.
12. A computer-readable storage medium having stored thereon computer-executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of calibrating magnetic compass parameters of any one of claims 1 to 7, or cause the processor to implement the method of determining a heading angle of a drone of claim 8.
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