CN104655114A - Calibration device for magnetic compass of unmanned aerial vehicle - Google Patents
Calibration device for magnetic compass of unmanned aerial vehicle Download PDFInfo
- Publication number
- CN104655114A CN104655114A CN201410834676.0A CN201410834676A CN104655114A CN 104655114 A CN104655114 A CN 104655114A CN 201410834676 A CN201410834676 A CN 201410834676A CN 104655114 A CN104655114 A CN 104655114A
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- base
- unmanned plane
- magnetic compass
- horizontal alignment
- alignment platform
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
Abstract
The invention discloses a calibration device for a magnetic compass of an unmanned aerial vehicle. The calibration device comprises a calibration console, a four-leg base, a base perpendicular bearing and four height correction screw seats; the unmanned aerial vehicle is horizontally placed and is perpendicular to a placement area of the horizontal calibration console; and horizontal calibration and perpendicular calibration on the magnetic compass of the unmanned aerial vehicle are performed by rotating the horizontal calibration console. The calibration device for the magnetic compass of the unmanned aerial vehicle can be used for realizing the calibration on the magnetic compass of the unmanned aerial vehicle without disassembling or assembling an inertia measurement unit of the unmanned aerial vehicle, is small in size, and easy to operate, and can realize horizontal calibration and perpendicular calibration on the magnetic compass of the unmanned aerial vehicle.
Description
Technical field
The present invention relates to the magnetic compass calibrating installation of unmanned plane, particularly relate to the device that a kind of magnetic compass to unmanned plane carries out horizontal alignment and vertical calibration.
Background technology
The Inertial Measurement Unit of unmanned plane is the device measuring object three-axis attitude angle (or angular speed) and acceleration.General, an Inertial Measurement Unit contains the accelerometer of three single shafts and the gyro of three single shafts, accelerometer inspected object founds the acceleration signal of three axles in carrier coordinate system unification and independence, and gyro detects the angular velocity signal of carrier relative to navigational coordinate system, measure object angular velocity in three dimensions and acceleration, and calculate the attitude of object with this.Inertial Measurement Unit has very important using value in unmanned plane during flying.Utilize three decoupling zero of axle earth magnetism and three axis accelerometers, very large by external force acceleration action, in the environment such as movement/vibration, outbound course angle error is larger, in addition geomagnetic sensor has shortcoming, its absolute object of reference is the magnetic line of force of terrestrial magnetic field, the feature of earth magnetism is that usable range is large, due to the polytrope in magnetic field of the earth and the erratic behavior of near-earth magnetic field, SUAV (small unmanned aerial vehicle) is flown in extreme low-altitude spatial domain again, near-earth magnetic field is particularly outstanding on the impact of unmanned plane magnetic compass, therefore unmanned plane need safety and precise when different geographical is flown, the necessary change because of field, ground, in new place, new calibration is done again to aircraft magnetic compasses.So that Inertial Measurement Unit records the new earth magnetism curve of calibration again.
The simple and easy method of past field calibration is generally: 1, artificial calibration is the simplest, but by staff lift calibration due to people cannot level or do center of circle motion completely completely, therefore calibration error is very big; 2, airplane inertial measuring unit is separated calibration, because Inertial Measurement Unit needs to be arranged on unmanned plane center of gravity position usually, scene is not easy to assemble.
Summary of the invention
The object of the invention is the deficiency overcoming prior art, provides the magnetic compass calibrating installation of unmanned plane, does not need to carry out dismounting to Inertial Measurement Unit and just can realize the calibration to unmanned plane magnetic compass.
The technical solution adopted for the present invention to solve the technical problems is: the magnetic compass calibrating installation of unmanned plane, comprises horizontal alignment platform, corner base, the vertical bearing of base and four strong high screw bolt seats;
Described corner base comprises a table top and four base legs; The upper end of described four base legs is connected with the corresponding bottom surface of table top respectively, and the lower end of described four base legs is rectified high screw bolt seat with one respectively and is flexibly connected;
The lower end of the vertical bearing of described base connects the center of the upper surface of described corner base, and the upper end of the vertical bearing of described base is connected with the center of the bottom surface of described horizontal alignment platform, and described horizontal alignment platform can horizontally rotate along the vertical bearing of base;
Described horizontal alignment platform is provided with the rest area for horizontal positioned unmanned plane, wherein, the ground clearance of the lower end of adjusting base leg is carried out by the connecting length of the lower end adjusting strong high screw bolt seat and base leg, the table top of corner base is horizontal, and then horizontal alignment platform is horizontal; Unmanned plane is lain in a horizontal plane on the rest area of described horizontal alignment platform, state horizontal alignment platform by rotation and horizontal alignment is carried out to the magnetic compass of unmanned plane.
Preferably, the rest area of described horizontal alignment platform is also provided with the fixture being used for fixing unmanned plane and vertically placing, unmanned plane is vertically fixed on horizontal alignment platform by fixture, can carry out vertical calibration by rotating horizontal calibration console to the magnetic compass of unmanned plane.
Preferably, described fixture comprises two buckles and two chutes, the centrosymmetric upper surface being installed on described horizontal alignment platform of described two chutes, and described two buckles lay respectively on described two chutes; Described snapping on chute is moved, and adjusts the distance between two buckles according to the size of unmanned plane.
Preferably, described base leg lower end and described rectify high screw bolt seat adopt screw joining manner; The inside of the lower end of described base leg is provided with internal thread, the described outer setting of high screw bolt seat rectified has external thread, is carried out the ground clearance of the lower end of adjusting base leg by the length of action of the internal thread of the lower end of the external thread and base leg that regulate strong high screw bolt seat.
Preferably, the vertical bearing of described base is connected and composed by multistage bearing, vertically can carry out stretching motion on the table top of corner base; By stretching and shortening the calibration that magnetic compass that described base Z-axis honours unmanned plane carries out differing heights.
The invention has the beneficial effects as follows:
1, the magnetic compass calibrating installation volume of this unmanned plane is little, simple to operate;
2, the magnetic compass calibrating installation of this unmanned plane mustn't carry out dismounting to the Inertial Measurement Unit of unmanned plane and just can calibrate the magnetic compass of unmanned plane.
3, the magnetic compass calibrating installation of this unmanned plane can realize horizontal alignment to the magnetic compass of unmanned plane and vertical calibration.
Below in conjunction with drawings and Examples, the present invention is described in further detail; But the magnetic compass calibrating installation of unmanned plane of the present invention is not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is front elevation of the present invention;
Fig. 2 is vertical view of the present invention.
Embodiment
Embodiment
Shown in Fig. 1 and Fig. 2, the magnetic compass calibrating installation of unmanned plane of the present invention, comprises horizontal alignment platform 10, corner base 20, the vertical bearing of base 30 and four strong high screw bolt seats 40;
Described corner base 20 comprises a table top 201 and four base legs 202; The upper end of described four base legs 202 is connected with the corresponding bottom surface of table top 201 respectively, and the lower end of described four base legs 202 is rectified high screw bolt seat 40 with one respectively and is flexibly connected;
The lower end of the vertical bearing of described base 30 connects the center of the upper surface of described corner base 20 table top 201, the upper end of the vertical bearing of described base 30 is connected with the center of the bottom surface of described horizontal alignment platform 10, and described horizontal alignment platform 10 can horizontally rotate along the vertical bearing 30 of base;
Described horizontal alignment platform 10 is provided with the rest area for horizontal positioned unmanned plane, wherein, the ground clearance of the lower end of adjusting base leg 202 is carried out by adjusting strong high screw bolt seat 40 and the connecting length of the lower end of base leg 202, the table top 201 of corner base 20 is horizontal, and then horizontal alignment platform 10 is horizontal; Unmanned plane is lain in a horizontal plane on the rest area of described horizontal alignment platform 10, state horizontal alignment platform 10 by rotation and horizontal alignment is carried out to the magnetic compass of unmanned plane.
Further, the rest area of described horizontal alignment platform 10 is also provided with the fixture 50 being used for fixing unmanned plane and vertically placing, unmanned plane is vertically fixed on horizontal alignment platform by fixture 50, can carry out vertical calibration by rotating horizontal calibration console to the magnetic compass of unmanned plane.；
Further, described fixture 50 comprises two buckles 501 and two chutes 502, the centrosymmetric upper surface being installed on described horizontal alignment platform 10 of described two chutes 502, and described two buckles 501 lay respectively on described two chutes 5002; Described buckle 501 is engaged on chute 502 and moves, and adjusts the distance between two buckles 501 according to the size of unmanned plane.
Further, described base leg 202 lower end and described rectify high screw bolt seat 40 adopt screw joining manner; The inside of the lower end of described base leg 202 is provided with internal thread, the described outer setting of high screw bolt seat 40 rectified has external thread, is carried out the ground clearance of the lower end of adjusting base leg 202 by the length of action of the internal thread of the lower end of the external thread and base leg 202 that regulate strong high screw bolt seat 40.
Further, the vertical bearing 30 of described base is connected and composed by multistage bearing, vertically can carry out stretching motion on the table top 201 of corner base 20; By the bearing 30 vertical with shortening base that stretch, horizontal alignment and the vertical calibration of differing heights can be carried out to the magnetic compass of unmanned plane.
Above-described embodiment is only used for further illustrating the magnetic compass calibrating installation of unmanned plane of the present invention; but the present invention is not limited to embodiment; every above embodiment is done according to technical spirit of the present invention any simple modification, equivalent variations and modification, all fall in the protection domain of technical solution of the present invention.
Claims (5)
1. the magnetic compass calibrating installation of unmanned plane, is characterized in that, comprising: horizontal alignment platform, corner base, the vertical bearing of base and four strong high screw bolt seats;
Described corner base comprises a table top and four base legs; The upper end of described four base legs is connected with the corresponding bottom surface of table top respectively, and the lower end of described four base legs is rectified high screw bolt seat with one respectively and is flexibly connected;
The lower end of the vertical bearing of described base connects the center of the upper surface of described corner base, and the upper end of the vertical bearing of described base is connected with the center of the bottom surface of described horizontal alignment platform, and described horizontal alignment platform can horizontally rotate along the vertical bearing of base;
Described horizontal alignment platform is provided with the rest area for horizontal positioned unmanned plane, wherein, the ground clearance of the lower end of adjusting base leg is carried out by the connecting length of the lower end adjusting strong high screw bolt seat and base leg, the table top of corner base is horizontal, and then horizontal alignment platform is horizontal; Unmanned plane is lain in a horizontal plane on the rest area of described horizontal alignment platform, state horizontal alignment platform by rotation and horizontal alignment is carried out to the magnetic compass of unmanned plane.
2. the magnetic compass calibrating installation of unmanned plane according to claim 1, it is characterized in that: the rest area of described horizontal alignment platform is also provided with the fixture being used for fixing unmanned plane and vertically placing, unmanned plane is vertically fixed on horizontal alignment platform by fixture, can carry out vertical calibration by rotating horizontal calibration console to the magnetic compass of unmanned plane.
3. the magnetic compass calibrating installation of unmanned plane according to claim 2, it is characterized in that: described fixture comprises two buckles and two chutes, the centrosymmetric upper surface being installed on described horizontal alignment platform of described two chutes, described two buckles lay respectively on described two chutes; Described snapping on chute is moved, and adjusts the distance between two buckles according to the size of unmanned plane.
4. the magnetic compass calibrating installation of unmanned plane according to claim 1, is characterized in that: lower end and the described strong high screw bolt seat of described base leg adopt screw joining manner; The inside of the lower end of described base leg is provided with internal thread, the described outer setting of high screw bolt seat rectified has external thread, is carried out the ground clearance of the lower end of adjusting base leg by the length of action of the internal thread of the lower end of the external thread and base leg that regulate strong high screw bolt seat.
5. the magnetic compass calibrating installation of unmanned plane according to claim 1, is characterized in that: the vertical bearing of described base is connected and composed by multistage bearing, vertically can carry out stretching motion on the table top of corner base; By stretching and shortening the calibration that magnetic compass that described base Z-axis honours unmanned plane carries out differing heights.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410834676.0A CN104655114A (en) | 2014-12-26 | 2014-12-26 | Calibration device for magnetic compass of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410834676.0A CN104655114A (en) | 2014-12-26 | 2014-12-26 | Calibration device for magnetic compass of unmanned aerial vehicle |
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| CN104655114A true CN104655114A (en) | 2015-05-27 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105783896A (en) * | 2016-05-17 | 2016-07-20 | 吉林大学 | Interactive type unmanned aerial vehicle magnetic compass calibration device and method |
| CN106153025A (en) * | 2016-06-17 | 2016-11-23 | 上海拓攻机器人有限公司 | Many rotor wing unmanned aerial vehicles and the calibration steps of electronic compass, system |
| 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 |
| CN106643803A (en) * | 2016-12-28 | 2017-05-10 | 北京奇艺世纪科技有限公司 | Turntable, method and device for geomagnetic calibration of electronic devices |
| CN107228659A (en) * | 2016-03-25 | 2017-10-03 | 哈尔滨飞机工业集团有限责任公司 | A kind of rotating disk for being used to verify aircraft magnetic compasses |
| CN108253951A (en) * | 2016-12-29 | 2018-07-06 | 北京卓翼智能科技有限公司 | Unmanned plane auxiliary calibration device and the method using its calibration unmanned plane |
| CN112857347A (en) * | 2021-01-21 | 2021-05-28 | 李树峰 | Pointer type rotary platform for helicopter compass field calibration |
| CN112857346A (en) * | 2021-01-21 | 2021-05-28 | 李树峰 | Rotary platform for helicopter compass field calibration and measurement method |
| CN113670331A (en) * | 2020-05-15 | 2021-11-19 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107228659A (en) * | 2016-03-25 | 2017-10-03 | 哈尔滨飞机工业集团有限责任公司 | A kind of rotating disk for being used to verify aircraft magnetic compasses |
| 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 |
| CN105783896A (en) * | 2016-05-17 | 2016-07-20 | 吉林大学 | Interactive type unmanned aerial vehicle magnetic compass calibration device and method |
| CN106153025A (en) * | 2016-06-17 | 2016-11-23 | 上海拓攻机器人有限公司 | Many rotor wing unmanned aerial vehicles and the calibration steps of electronic compass, system |
| 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 |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN106643803A (en) * | 2016-12-28 | 2017-05-10 | 北京奇艺世纪科技有限公司 | Turntable, method and device for geomagnetic calibration of electronic devices |
| CN108253951A (en) * | 2016-12-29 | 2018-07-06 | 北京卓翼智能科技有限公司 | Unmanned plane auxiliary calibration device and the method using its calibration unmanned plane |
| CN108253951B (en) * | 2016-12-29 | 2021-11-19 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle auxiliary calibration device and method for calibrating unmanned aerial vehicle by using same |
| CN113670331A (en) * | 2020-05-15 | 2021-11-19 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
| CN113670331B (en) * | 2020-05-15 | 2024-02-09 | 中航西飞民用飞机有限责任公司 | Method for installing standby magnetic compass of airplane |
| CN112857346A (en) * | 2021-01-21 | 2021-05-28 | 李树峰 | Rotary platform for helicopter compass field calibration and measurement method |
| CN112857347A (en) * | 2021-01-21 | 2021-05-28 | 李树峰 | Pointer type rotary platform for helicopter compass field calibration |
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