CN104535054B - A kind of magnetic compass rope calibration method of unmanned plane - Google Patents
A kind of magnetic compass rope calibration method of unmanned plane Download PDFInfo
- Publication number
- CN104535054B CN104535054B CN201410854001.2A CN201410854001A CN104535054B CN 104535054 B CN104535054 B CN 104535054B CN 201410854001 A CN201410854001 A CN 201410854001A CN 104535054 B CN104535054 B CN 104535054B
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- unmanned plane
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- magnetic compass
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000002184 metal Substances 0.000 claims abstract description 29
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims description 29
- 238000000429 assembly Methods 0.000 claims description 29
- 238000005259 measurement Methods 0.000 abstract description 9
- 230000001133 acceleration Effects 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005526 G1 to G0 transition Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Magnetic Variables (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a kind of magnetic compass rope calibration method of unmanned plane, be based on upper bearing (metal) fixture, upper bearing (metal), lower bearing, on carry out on the device that is constituted of suspender, lower suspender and center of gravity base；The upper suspender and lower suspender horizontally suspend unmanned plane carries out horizontal alignment for the magnetic compass to unmanned plane, and unmanned plane vertical hanging is used to carry out vertical calibration to the magnetic compass of unmanned plane by upper suspender and lower suspender.The present invention realizes the calibration of the magnetic compass of unmanned plane, and this method, simple to operate dismounted without the Inertial Measurement Unit to unmanned plane can just calibrate to the magnetic compass of unmanned plane.
Description
Technical field
It is more particularly to a kind of that water-filling is entered to unmanned plane the present invention relates to a kind of magnetic compass rope calibration method of unmanned plane
Flat calibration and the method for vertical calibration.
Background technology
The Inertial Measurement Unit of unmanned plane is the device for measuring object three-axis attitude angle (or angular speed) and acceleration.One
As, an Inertial Measurement Unit contains the accelerometer of three single shafts and the gyro of three single shafts, accelerometer detectable substance
Body founds the acceleration signal of three axles in carrier coordinate system unification and independence, and gyro detection carrier is believed relative to the angular speed of navigational coordinate system
Number, measurement object angular speed and acceleration in three dimensions, and calculate with this attitude of object.Inertial Measurement Unit exists
There is critically important application value in unmanned plane during flying.Using the decoupling of three axle earth magnetism and three axis accelerometer, by external force acceleration
Influence is very big, and in the environment such as movement/vibration, outbound course angle error is larger, and geomagnetic sensor has shortcoming in addition, it absolute
The characteristics of object of reference is the magnetic line of force in earth's magnetic field, earth magnetism is, polytropy and near-earth magnetic field due to magnetic field of the earth big using scope
Erratic behavior, and SUAV flown in extreme low-altitude spatial domain, and influence of the near-earth magnetic field to unmanned plane magnetic compass is particularly dashed forward
Go out, thus unmanned plane need safety and precise when different geographical carries out flight, it is necessary because of the change on ground, in new place to aircraft
Magnetic compass does again new calibration.New earth magnetism curve is calibrated so that Inertial Measurement Unit is recorded again.
The simple and easy method of past field calibration is usually：1st, artificial calibration is the simplest, but is lifted and calibrated by human hand
Because people can not do center of circle motion fully horizontally or completely, therefore calibration error is very big；2nd, airplane inertial measuring unit is separated
Calibration, because Inertial Measurement Unit is usually required to be mounted at unmanned plane center of gravity position, scene is not easy to assemble.
The content of the invention
Present invention aims to overcome that the deficiency of prior art is there is provided a kind of magnetic compass rope calibration method of unmanned plane,
Dismounting need not be carried out to Inertial Measurement Unit and can be achieved with the calibration to unmanned plane magnetic compass.
The technical solution adopted for the present invention to solve the technical problems is：A kind of magnetic compass rope calibration side of unmanned plane
Method, be based on upper bearing (metal) fixture, upper bearing (metal), lower bearing, on the device that is constituted of suspender, lower suspender and center of gravity base
Upper progress；
The upper suspender includes at least two isometric upper tether assemblies, and the lower end of the isometric upper tether assemblies connects
It is connected on the rotor arm of unmanned plane, the upper end of the isometric upper tether assemblies is fixed with the lower end of the outer ring of upper bearing (metal) respectively to be connected
Connect；The upper end of the inner ring of the upper bearing (metal) is connected with the upper bearing (metal) fixture, and the outer ring of the upper bearing (metal) can be in upper bearing (metal)
Rotated on fixture along axle center；
The lower suspender includes at least two isometric lower tether assemblies, and the upper end of the isometric lower tether assemblies connects
It is connected on the rotor arm of unmanned plane, the upper end stationary phase of the lower ends of the isometric lower tether assemblies respectively with the outer ring of lower bearing
Even, make lower bearing naturally vertical；The lower end of the inner ring of the lower bearing is connected with center of gravity base, and the outer ring of the lower bearing can
Rotated on center of gravity base along axle center；
When the magnetic compass to unmanned plane carries out horizontal alignment, the lower end of upper tether assemblies is connected to the rotor of unmanned plane
On arm, horizontally suspend unmanned plane；The upper end of lower tether assemblies is connected on the rotor arm of unmanned plane, makes center of gravity base vertical
Below the horizontal centre for hanging on unmanned plane；The level that 360 ° are carried out to unmanned plane along the axis direction of upper bearing (metal) and lower bearing is revolved
Turn, so as to carry out horizontal alignment to the magnetic compass of unmanned plane；
When the magnetic compass to unmanned plane carries out vertical calibration, by any two isometric ropes in upper tether assemblies
Lower end is connected on two adjacent rotor arms of unmanned plane, makes unmanned plane vertical hanging；By any two etc. in lower rope group
The upper end of long rope is connected on the symmetrical rotor arm for the corresponding two rotor arms being connected with upper rope group, makes center of gravity base
Vertical hanging is below the vertical centre of unmanned plane；360 ° of water is carried out to unmanned plane along the axis direction of upper bearing (metal) and lower bearing
Flat rotation, so that the vertical calibration of the magnetic compass to unmanned plane.
The beneficial effects of the invention are as follows：
1st, the magnetic compass calibration method of the unmanned plane is simple to operate；
2nd, the magnetic compass calibration method of the unmanned plane will mustn't dismount right with regard to energy to the Inertial Measurement Unit progress of unmanned plane
The magnetic compass of unmanned plane is calibrated.
3rd, the magnetic compass calibration method of the unmanned plane can realize the horizontal alignment to the magnetic compass of unmanned plane and vertical school
It is accurate.
The present invention is described in further detail below in conjunction with drawings and Examples；But a kind of magnetic of unmanned plane of the present invention
Compass rope calibration method is not limited to embodiment.
Brief description of the drawings
Fig. 1 is the magnetic compass horizontal alignment schematic diagram of the unmanned plane of the present invention；
Fig. 2 is the magnetic compass vertical calibration schematic diagram of the unmanned plane of the present invention.
Embodiment
Embodiment
Referring to shown in Fig. 1 and Fig. 2, a kind of magnetic compass rope calibration method of unmanned plane of the invention, is based on upper axle
Hold the dress that fixture 10, upper bearing (metal) 201, lower bearing 202, upper suspender 301, lower suspender 303 and center of gravity base 40 are constituted
Put progress；
The upper suspender 301 is included under at least two isometric upper tether assemblies, the isometric upper tether assemblies
End is connected on the rotor arm of unmanned plane, the upper ends of the isometric upper tether assemblies respectively with the outer ring of upper bearing (metal) 201
End is fixedly connected；The inner ring upper end of the upper bearing (metal) 201 is connected with the upper bearing (metal) fixture 10, the upper bearing (metal) 201
Outer ring can rotate on upper bearing (metal) fixture 201 along axle center；
The lower suspender 302 includes at least two isometric lower tether assemblies, the isometric lower tether assemblies it is upper
End is connected on the rotor arm of unmanned plane, and the lower end of the isometric lower tether assemblies is upper with the outer ring of lower bearing 202 respectively
End is fixedly linked, and makes lower bearing 202 naturally vertical；The lower end of the inner ring of the lower bearing 202 is connected with center of gravity base 40, institute
Stating the outer ring of lower bearing 202 can rotate on center of gravity base 40 along axle center；
When the magnetic compass to unmanned plane carries out horizontal alignment, the lower end of upper tether assemblies is connected to the rotor of unmanned plane
On arm, horizontally suspend unmanned plane；The upper end of lower tether assemblies is connected on the rotor arm of unmanned plane, center of gravity base 40 is hung down
The lower section of the straight horizontal centre for hanging on unmanned plane；Unmanned plane is carried out along the axis direction of upper bearing (metal) 201 and lower bearing 202
360 ° of horizontal rotation, so as to carry out horizontal alignment to the magnetic compass of unmanned plane；
When the magnetic compass to unmanned plane carries out vertical calibration, by any two isometric ropes in upper tether assemblies
Lower end is connected on two adjacent rotor arms of unmanned plane, makes unmanned plane vertical hanging；By any two etc. in lower rope group
The upper end of long rope is connected on the symmetrical rotor arm for the corresponding two rotor arms being connected with upper rope group, makes center of gravity base
The lower section of the vertical centre of 40 vertical hangings and unmanned plane, the axis direction along upper bearing (metal) 201 and lower bearing 202 enters to unmanned plane
The horizontal rotation that 360 ° of row, so as to carry out vertical calibration to the magnetic compass of unmanned plane.
Because upper bearing (metal) 2011 with that can drive upper suspender 301 and lower suspender 302 whole when rotated with lower bearing 202
Body rotate, will not make tether assemblies and lower tether assemblies tangled because of rotation cause influence unmanned plane magnetic compass calibration.
Above-described embodiment is only used for further illustrating a kind of magnetic compass rope calibration method of unmanned plane of the present invention, but this
Invent and be not limited to embodiment, every any simple modification made according to technical spirit of the invention to above example,
Equivalent variations and modification, each fall within the protection domain of technical solution of the present invention.
Claims (1)
1. a kind of magnetic compass rope calibration method of unmanned plane, it is characterised in that be based on upper bearing (metal) fixture, upper bearing (metal),
Carried out on the device that lower bearing, upper suspender, lower suspender and center of gravity base are constituted；
The upper suspender includes at least two isometric upper tether assemblies, and the lower end of the isometric upper tether assemblies is connected to
On the rotor arm of unmanned plane, the lower end of the upper ends of the isometric upper tether assemblies respectively with the outer ring of upper bearing (metal) is fixedly connected；
The upper end of the inner ring of the upper bearing (metal) is connected with the upper bearing (metal) fixture, and the outer ring of the upper bearing (metal) can be fixed in upper bearing (metal)
Rotated on part along axle center；
The lower suspender includes at least two isometric lower tether assemblies, and the upper end of the isometric lower tether assemblies is connected to
On the rotor arm of unmanned plane, the upper end of the lower ends of the isometric lower tether assemblies respectively with the outer ring of lower bearing is fixedly linked,
Make lower bearing naturally vertical；The lower end of the inner ring of the lower bearing is connected with center of gravity base, and the outer ring of the lower bearing can be
Rotated on center of gravity base along axle center；
When the magnetic compass to unmanned plane carries out horizontal alignment, the lower end of upper tether assemblies is connected to the rotor arm of unmanned plane
On, horizontally suspend unmanned plane；The upper end of lower tether assemblies is connected on the rotor arm of unmanned plane, center of gravity base is vertically hanged
Below the horizontal centre for being hung on unmanned plane；The level that 360 ° are carried out to unmanned plane along the axis direction of upper bearing (metal) and lower bearing is revolved
Turn, so as to carry out horizontal alignment to the magnetic compass of unmanned plane；
When the magnetic compass to unmanned plane carries out vertical calibration, by the lower end of any two isometric ropes in upper tether assemblies
It is connected on two adjacent rotor arms of unmanned plane, makes unmanned plane vertical hanging；Any two in lower rope group are isometric
The upper end of rope is connected on the symmetrical rotor arm for the corresponding two rotor arms being connected with upper rope group, makes center of gravity base vertical
Below the vertical centre for hanging on unmanned plane；The level that 360 ° are carried out to unmanned plane along the axis direction of upper bearing (metal) and lower bearing is revolved
Turn, so that the vertical calibration of the magnetic compass to unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410854001.2A CN104535054B (en) | 2014-12-31 | 2014-12-31 | A kind of magnetic compass rope calibration method of unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410854001.2A CN104535054B (en) | 2014-12-31 | 2014-12-31 | A kind of magnetic compass rope calibration method of unmanned plane |
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| Publication Number | Publication Date |
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| CN104535054A CN104535054A (en) | 2015-04-22 |
| CN104535054B true CN104535054B (en) | 2017-07-18 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783896B (en) * | 2016-05-17 | 2018-06-01 | 吉林大学 | A kind of interactive mode unmanned plane magnetic compass calibrating installation and calibration method |
| CN106646281A (en) * | 2016-10-11 | 2017-05-10 | 极翼机器人(上海)有限公司 | Magnetic sensor module for unmanned aerial vehicles and calibration method thereof |
| CA3044139C (en) | 2016-11-22 | 2022-07-19 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electricity transmission line |
| CN107741223B (en) * | 2017-11-29 | 2020-11-27 | 天津聚飞创新科技有限公司 | Magnetic compass calibration method and device and unmanned aerial vehicle |
| CN108037318A (en) * | 2017-12-07 | 2018-05-15 | 智灵飞（北京）科技有限公司 | A kind of unmanned plane accelerometer calibration method based on ellipsoid fitting |
Citations (6)
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|---|---|---|---|---|
| EP1043566A2 (en) * | 1999-04-08 | 2000-10-11 | Donnelly Corporation | Vehicle compass compensation |
| CN101393022A (en) * | 2008-11-07 | 2009-03-25 | 北京航空航天大学 | Digital magnetic compass demarcating method in magnetic field |
| CN201307035Y (en) * | 2008-12-08 | 2009-09-09 | 江四义 | Bathymetric survey comparator |
| US7613581B2 (en) * | 2006-09-20 | 2009-11-03 | Samsung Electronics Co., Ltd. | Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium |
| CN102589537A (en) * | 2012-03-05 | 2012-07-18 | 无锡汉和航空技术有限公司 | Method for calibrating electronic compass of unmanned machine under magnetic environment |
| CN103542837A (en) * | 2012-07-14 | 2014-01-29 | 厦门锐思达机电科技有限公司 | Spirit level suspension bracket |
-
2014
- 2014-12-31 CN CN201410854001.2A patent/CN104535054B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1043566A2 (en) * | 1999-04-08 | 2000-10-11 | Donnelly Corporation | Vehicle compass compensation |
| US7613581B2 (en) * | 2006-09-20 | 2009-11-03 | Samsung Electronics Co., Ltd. | Method, apparatus, and medium for calibrating compass sensor in consideration of magnetic environment and method, apparatus, and medium for measuring azimuth using the compass sensor calibration method, apparatus, and medium |
| CN101393022A (en) * | 2008-11-07 | 2009-03-25 | 北京航空航天大学 | Digital magnetic compass demarcating method in magnetic field |
| CN201307035Y (en) * | 2008-12-08 | 2009-09-09 | 江四义 | Bathymetric survey comparator |
| CN102589537A (en) * | 2012-03-05 | 2012-07-18 | 无锡汉和航空技术有限公司 | Method for calibrating electronic compass of unmanned machine under magnetic environment |
| CN103542837A (en) * | 2012-07-14 | 2014-01-29 | 厦门锐思达机电科技有限公司 | Spirit level suspension bracket |
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| CN104535054A (en) | 2015-04-22 |
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