CN106556852A - A kind of method based on positioning posture information simulation magnetic compass and gaussmeter simulator - Google Patents
A kind of method based on positioning posture information simulation magnetic compass and gaussmeter simulator Download PDFInfo
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- CN106556852A CN106556852A CN201611022137.2A CN201611022137A CN106556852A CN 106556852 A CN106556852 A CN 106556852A CN 201611022137 A CN201611022137 A CN 201611022137A CN 106556852 A CN106556852 A CN 106556852A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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Abstract
The invention discloses a kind of generation method and gaussmeter simulator that magnetic compass metrical information is simulated based on attitude information, steps of the method are：Appearance receiver is determined using veneer multiple antennas measure the current Jing of unmanned plane, latitude location information and attitude information in real time（Driftage, pitching, rolling）；Determined according to Jing, latitude positioning result and Geomagnetic Field Model current（Under geographic coordinate system）Geomagnetic fieldvector；Attitude matrix is determined according to driftage, pitching, roll attitude information；And by attitude matrix by under the earth magnetism vector median filters under geographic coordinate system to body coordinate system, you can obtain the magnetic compass three-axis measurement result for virtually generating；The result is exported to winged control module, magnetic heading is carried out for which and geographical north course is resolved.The present invention has that principle is simple, easily realizes and promote, can fast and accurately replace true magnetic compass, no longer receives magnetic disturbance after replacement, and the advantages of eliminate magnetic compass oval and demarcate flow process.
Description
Technical field
Present invention relates generally to Navigation of Pilotless Aircraft field, refers in particular to a kind of side based on positioning posture information simulation magnetic compass
Method and gaussmeter simulator.
Background technology
The control system of either multi-rotor unmanned aerial vehicle or fixed-wing unmanned plane is required for providing in high precision and real-time
Position, speed, Attitude estimation.High-acruracy survey is the premise of high-precision control, and real-time has then corresponded to controlling cycle
Need.
Although satellite navigation receiver can provide error not with the position of time diverging, velocity information, data are defeated
The turnover rate for going out often cannot be also provided required for flight control system well below the requirement of flight control system, and single-point locating system
Attitude information.
Real-time position, speed, attitude information are provided, traditional method is namely based on Inertial Measurement Unit（IMU, bag
Include 3 axle gyros, 3 axis accelerometers）Strap inertial navigation algorithm.Due to the requirement of low cost, Inertial Measurement Unit is adopted mostly
With micromechanical gyro and micro-mechanical accelerometer.As the precision of device is poor, cause navigation error dissipate quickly.In order to press down
The growth of error processed, is generally corrected to the error of inertial navigation using the absolute method of measurement beyond IMU, such as magnetic compass,
Barometertic altimeter, satellite navigation receiver are characterized in that error is not dissipated with the time.
Magnetic compass includes that three axle earth magnetism component measurement sensors resolve software two parts with magnetic heading.Three axles ground magnetic component is surveyed
Quantity sensor referred to as 3 axle magnetometers, the measurement result of gaussmeter is also known as magnetic compass metrical information.It is many by taking PIXHAWK as an example
Increase income and fly to control with the carrying out three axles magnetic component survey of the hmc5883 chips or hmc5983 chips that generally employ Honeywell Inc.
Amount, then by I2C interface standard（3 axle magnetometer chip hmc5883 of correspondence）Or SPI interface standard（3 axle magnetometers of correspondence
Chip hmc5983）It is input to winged control.Software module is resolved finally by the magnetic heading inside winged control and obtains magnetic heading.
North orientation benchmark can be provided based on the magnetic compass of 3 axle magnetometers, suppress the course angle error of inertial navigation system.Magnetic
The dynamic accuracy of compass typically in 2 ~ 3 measurement levels, disclosure satisfy that the flight demand for control of unmanned plane substantially, so at present almost
It is applied in all winged control platforms.But in complicated outside magnetic disturbance（Near such as building, near electric pole and greatly
Ferromagnetic material nearby etc.）In the case of, 3 axle magnetometers will measure the Geomagnetism Information of simultaneously output error, so as to cause course to resolve
There is significant error in information, severe patient can cause aircraft out of control.Precision agriculture application, application etc. of taking photo by plane all run into above-mentioned repeatedly
The air crash phenomenon that magnetic disturbance problem causes.
DVB multiple antennas are determined appearance directional technology and can make up the problem that magnetic heading measurement is easily disturbed well.Defend
Star is determined appearance directional technology and can directly obtain course information, is then accessed by interface and flies control unit.For at present with PIXHAWK
As a example by much increase income and fly control for, new information access be intended to increase income fly control in change software, increase and drive journey
Sequence, modification fly control algorithm etc..But for many unmanned plane users, they have the ability to change flying-controlled box, hence with
DVB multiple antennas are determined appearance directional technology to avoid magnetic compass problem from being not very smooth.
The content of the invention
The technical problem to be solved in the present invention is that：In order to overcome existing winged control platform magnetic heading easily by environmental disturbances
Deficiency, and need not change fly control code just can seamless access flight control system, the present invention provides a kind of using many days of veneer
Line satellite fix, the method for determining magnetic compass measurement data needed for the generation of appearance information simulation flies to control, from from the perspective of flight control system
It is a compatible gaussmeter to be equivalent to.
To solve above-mentioned technical problem, the present invention is employed the following technical solutions.
（1）Measured using appearance integrated receiver position/is determined based on the multi-antenna arrays of more than three, obtain current
Location information（Including longitude, latitude, height）With determine appearance information（Including yaw angle, the angle of pitch, roll angle）.
（2）According to longitude, latitude, altitude location result and international geomagnetic reference field model（IGRF）Determine current location ground
Geomagnetic fieldvector under reason coordinate system, is expressed as using three axle magnetic components：。
（3）Attitude matrix is determined according to yaw angle, the angle of pitch, three attitude informations of roll angle。
（1）.
（4）By attitude matrix by under the earth magnetism vector median filters under geographic coordinate system to body coordinate system, you can obtain simulation life
Into magnetic compass three-axis measurement result。
（2）
By above-mentioned formula（2）Launch, thenThree components be respectively：
（3）
（4）
（5）
The Data Source of the three axis magnetometer exactly simulated.
（5）According to interface standard I of the hmc5883 chips of Honeywell Inc.2C or Honeywell Inc.
Interface standard SPI that hmc5983 chips are supported exports the magnetic compass metrical information of above-mentioned simulation.
Compared with prior art, the present invention have it is following a little.
（1）Compared with real three axis magnetometer chip, the magnetic compass metrical information of simulation is no longer influenced by the shadow of magnetic disturbance
Ring.For comparing physical entity magnetic compass, it is reliable and stable that satellite multiple antennas determine appearance result, not by environment local magnetic field disturbance shadow
Ring, so the magnetic compass measure data precision that simulation is generated is high, good stability can be obviously improved and fly control effect.
（2）Compared with the magnetic compass that real three axis magnetometer chip is constituted, eliminate that magnetic compass carried out at the scene is ellipse
Circle demarcates flow process.The oval demarcation flow process that multi-rotor unmanned aerial vehicle is carried out at the scene, is often required for entering in X-axis, Y-axis, Z axis respectively
Row rotation is turn-taked（Typically at least turn around respectively）.The situation very big for the unmanned plane of big load, particularly wheel base dimension
Under, turn around relatively easily to Z axis along the ground of NED geographic coordinate systems, but it is by no means easy to turn-take along X-axis, Y-axis.This
The bright measurement data for simulating magnetic compass, without live magnetic demarcation is carried out, a undoubtedly very big advantage.
（3）Compared with single multiple antennas attitude determination system output attitude information, it is possible to achieve seamless access is increased income and flies control, no
Modification is needed to fly the software in control.Because the magnetic compass measurement letter of the interface shape output simulation adopted according to existing winged control
Breath, such as interface standard I of hmc5883 chips2The interface standard that the hmc5983 chips of C or Honeywell Inc. are supported
SPI, therefore for winged control, accomplished interface compatibility.
Description of the drawings
Fig. 1 is workflow diagram.
Fig. 2 is earth magnetism component map.
Fig. 3 is total register map.
Fig. 4 is configuration register A figures.
Fig. 5 is configuration register B figures.
Fig. 6 is mode register figure.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Utilization veneer multiple antennas Satellite Attitude Determination information simulation involved in the present invention is generated and flies magnetic compass measurement number needed for control
According to method method, " to determine appearance based on the veneer multiple antennas of SOC to connect described by the patent of Application No. 201610360070.7
Illustrate as a example by receipts machine ", its step is：
（1）Based on more than three multi-antenna arrays, " determining appearance receiver based on the veneer multiple antennas of SOC " is utilized to measure,
Obtain current location information（Including longitude, latitude, height）With determine appearance information（Including yaw angle, the angle of pitch、
Roll angle）.
（2）According to longitude, latitude, altitude location result and international geomagnetic reference field model（IGRF）Determine current location
Geomagnetic fieldvector under geographic coordinate system, is expressed as using three axle magnetic components：.Its step is.
A) with reference to Fig. 1, the geomagnetic fieldvector under the geographic coordinate system of current location is expressed as using three axle magnetic components：.Do not affect to calculate to simplify problem, can arrange, be i.e. magnetic dip angle in Fig. 2 is 0.
With reference to the geomagnetic declination data base increased income in flying-controlled box, geomagnetic declination initialized data base model is set up.
According to 10 degree of grids, longitude can be divided into the longitude and latitude in the whole world【- 180, -170, ┉, 0, ┉, 170,
180】Totally 37 interval points.Latitude can be divided into【- 60, -50, ┉, 0, ┉, 50,60】Totally 13 interval points.Latitude is at -60 °
Calculate according to -60 ° between ~ -90 °, latitude is between 60 ° ~ 90 ° according to 60 ° of calculating.Therefore geomagnetic declination initialized data base model
Actually one two-dimensional array declination_table [13] [37], totally 13 rows 37 arrange, corresponded to 13 latitude nets respectively
Lattice and 37 longitude grids.What the initial value inside array was represented is magnetic declination, and unit is degree.The preset magnetic declination number of this array
Group is as follows（Geomagnetic declination data base in flying-controlled box of increasing income）：
staticconstint8_tdeclination_table[13][37]= \
{
{ 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4,-1,-5,-9,-
14,-19,-26,-33,-40,-48,-55,-61,-66,-71,-74,-75,-72,-61,-25, 22, 40, 45, 47,
46 },
{ 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3,-3,-9,-12,-15,-
17,-21,-26,-32,-39,-45,-51,-55,-57,-56,-53,-44,-31,-14, 0, 13, 21, 26, 29, 30
},
{ 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5,-3,-11,-17,-20,-21,-
22,-23,-25,-29,-35,-40,-44,-45,-44,-40,-32,-22,-12,-3, 3, 9, 14, 18, 20, 21
},
{ 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0,-9,-16,-21,-24,-25,-
25,-23,-20,-21,-24,-28,-31,-31,-29,-24,-17,-9,-3, 0, 4, 7, 10, 13, 15, 16 },
{ 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3,-4,-12,-19,-23,-24,-24,-
22,-17,-12,-9,-10,-13,-17,-18,-16,-13,-8,-3, 0, 1, 3, 6, 8, 10, 12, 12 },
{ 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0,-6,-14,-20,-22,-22,-19,-15,-
10,-6,-2,-2,-4,-7,-8,-8,-7,-4, 0, 1, 1, 2, 4, 6, 8, 10, 10 },
{ 9, 9, 9, 9, 9, 9, 8, 8, 7, 4,-1,-8,-15,-19,-20,-18,-14,-9,-5,-2, 0,
1, 0,-2,-3,-4,-3,-2, 0, 0, 0, 1, 3, 5, 7, 8, 9 },
{ 8, 8, 8, 9, 9, 9, 8, 8, 6, 2,-3,-9,-15,-18,-17,-14,-10,-6,-2, 0, 1,
2, 2, 0,-1,-1,-2,-1, 0, 0, 0, 0, 1, 3, 5, 7, 8 },
{ 8, 9, 9, 10, 10, 10, 10, 8, 5, 0,-5,-11,-15,-16,-15,-12,-8,-4,-1,
0, 2, 3, 2, 1, 0, 0, 0, 0, 0,-1,-2,-2,-1, 0, 3, 6, 8 },
{ 6, 9, 10, 11, 12, 12, 11, 9, 5, 0,-7,-12,-15,-15,-13,-10,-7,-3, 0,
1, 2, 3, 3, 3, 2, 1, 0, 0,-1,-3,-4,-5,-5,-2, 0, 3, 6 },
{ 5, 8, 11, 13, 15, 15, 14, 11, 5,-1,-9,-14,-17,-16,-14,-11,-7,-3, 0,
1, 3, 4, 5, 5, 5, 4, 3, 1,-1,-4,-7,-8,-8,-6,-2, 1, 5 },
{ 4, 8, 12, 15, 17, 18, 16, 12, 5,-3,-12,-18,-20,-19,-16,-13,-8,-4,-
1, 1, 4, 6, 8, 9, 9, 9, 7, 3,-1,-6,-10,-12,-11,-9,-5, 0, 4 },
{ 3, 9, 14, 17, 20, 21, 19, 14, 4,-8,-19,-25,-26,-25,-21,-17,-12,-7,-
2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0,-7,-12,-15,-14,-11,-6,-1, 3 },
};
3) according to longitude, latitude positioning result and above-mentioned preset geomagnetic declination initialized data base model, obtain current location
Magnetic declination.
Such as the Jing in Changsha somewhere, latitude are：112.9 ° of east longitude, 28.2 ° of north latitude then retrieve the row of array, row number difference
For：
Retrieve the 9th row of above-mentioned declination_table forms, the data of the 30th row,
declination_table[9][30]=-1°
The geomagnetic declination of current location.
4) geomagnetic fieldvector under computed geographical coordinates.
Although the horizontal component of the geomagnetic field intensity in Changsha is, all according to unified horizontal component it isCome
Calculate.
（6）
（7）
Then obtain。
（3）According to yaw angle, the angle of pitch, roll angleThree attitude informations determine attitude matrix, see formula
（1）.
（4）By attitude matrix by under the earth magnetism vector median filters under geographic coordinate system to body coordinate system, you can obtain simulation life
Into magnetic compass three-axis measurement result。
According to formula（2）Launch, thenThree components according to formula（3~5）Respectively obtain,
The Data Source of the three axis magnetometer exactly simulated.
（5）According to interface standard I of the hmc5883 chips of Honeywell Inc.2C or Honeywell Inc.
Interface standard SPI that hmc5983 chips are supported exports the magnetic compass metrical information of above-mentioned simulation.Said with hmc5983 below
It is bright.
With reference to hmc5983, following 13 depositors are set.
Address number 00：Configuration register A, its effect are the data output rates of configuration equipment.
Address number 01：Configuration register B, its effect are the data gains of configuration equipment.
Address number 02：Mode register, its effect are the operator schemes of configuration equipment.
Whole configurable depositor of the three above depositor for HMC5983 equipment.
Address number 03 ~ 08：Totally 6 data output registers, correspond to X-axis, Y-axis, Z axis respectively, and each axle accounts for 2 respectively
Depositor.
Address number 09：Status register.
Address number 10 ~ 12：3 identification depositors altogether.
With reference to Fig. 4, the major function of configuration register A is the data sample rates of configuration equipment, data sample rates by
2 ~ 4bit positions of this depositor determine that Speedometer Drive is as follows：
Because three axle magnetic information Data Source of the simulation for using is in attitude determination system, the actual renewal rate of data is by determining appearance
What system was determined, the value of this depositor will not produce impact for analog data.
With reference to Fig. 5, the major function of configuration register B is the data gain of configuration equipment, data gain thus depositor
5 ~ 7bit positions determine.
Formula（3~5）The three axle magnetic information data that simulation is generated are respectively, these three data are first
Beginning data.
If the primary data of a certain axle is Raw（=One of）, gain is Gain, then be finally written to number
According to the value of storage register it is（8）
Citing：If the yield value Configuration Values of configuration register B are the 001 of acquiescence, then gain is understood according to gain table the third line
For（1090/ Gauss）.
Data storage register is ultimately written so（Corresponding address is numbered：10~12）In value beIt is multiplied by respectively（1090/ Gauss）Value afterwards（It is height to need the Conversion of measurement unit of primary data before carrying out computing
This）.
Three values that hypothesis is ultimately written in data storage register are respectively：。
With reference to Fig. 6, the major function of mode register is the operational mode of configuration equipment, operational mode thus depositor
0 ~ 1bit positions determine
The operational mode of this register configuration equipment.
When continuous measurement pattern is configured to, the sampling rate of equipment is determined by the value of configuration register A；
When single-measurement pattern is configured to, the sampling rate of equipment is determined by the transmission commanded rate of winged control.
The value of this depositor is not affected on analog data.
Data output X-axis MSB depositor, X-axis LSB depositor.Other axles（Y-axis, Z axis）Equally.
By taking X-axis as an example, through formula（8）Obtain after calculating, high 8 byte data will be stored to MSB depositors, low 8 word
Joint number arrives LSB depositors according to by storage.
Last 4 depositors, it is not necessary to arrange.
Workflow：
Determine data output turnover rate → gain is determined according to the data of configuration register B according to the data of configuration register A
Gain → in data output interrupt service routine corresponding with turnover rate is according to formula（8）X-axis, Y-axis, Z axis are calculated respectively
Write data→ high 8 byte data respectively is isolated by with low 8 byte number for X-axis, Y-axis, the data of Z axis
According to one is obtained totally 6 data output registers of 6 data → be filled up to this 6 data respectively address number 03 ~ 08.
Measured using " determining appearance receiver based on the veneer multiple antennas of SOC " obtain current location information with determine appearance letter
Breath is the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-described embodiment, all to belong to the present invention
The magnetic survey data-selected scheme obtained under the body coordinate system simulated behind acquisition position, attitude under thinking belongs to the guarantor of the present invention
Shield scope.It should be pointed out that for those skilled in the art, if without departing from the principles of the present invention
Dry improvements and modifications, should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of method that magnetic compass metrical information is simulated based on positioning/attitude information, it is characterised in that step is：
Using appearance integrated measuring unit position/is determined, location information is obtained（Including longitude, latitude, height）With determine appearance information（Bag
Include yaw angle, the angle of pitch, roll angle）；
Determined according to longitude, latitude, altitude location result and Geomagnetic Field Model current（Under geographic coordinate system）Geomagnetic fieldvector；
Attitude matrix is determined according to driftage, pitching, roll attitude information；
By attitude matrix by under the earth magnetism vector median filters under geographic coordinate system to body coordinate system, you can obtain simulating magnetic sieve for generating
Disk three-axis measurement result.
2. it is a kind of based on positioning/attitude information simulate magnetic compass metrical information gaussmeter simulator, it is characterised in that：
The multi-antenna array unit of more than 3；
Position/determine appearance integrated receiver and realize location information（Including longitude, latitude, height）With determine appearance information（Including driftage
Angle, the angle of pitch, roll angle）While measure；
The simulation softward of magnetic compass metrical information is simulated based on positioning/attitude information；
According to I2C and the magnetic compass metrical information of the above-mentioned simulation of SPI interface standard output.
3. the simulation softward that magnetic compass metrical information is simulated based on positioning/attitude information according to claim 2, including 3
Big functional module：Geomagnetic fieldvector generation module under geographic coordinate system, attitude matrix generation module, gaussmeter three-axis measurement knot
Fruit analog module, is characterised by：
Geomagnetic fieldvector generation module under geographic coordinate system, it is true according to longitude, latitude, altitude location result and Geomagnetic Field Model
Settled front position（Under geographic coordinate system）Geomagnetic fieldvector；
Attitude matrix generation module, determines attitude matrix according to driftage, pitching, roll attitude information；
Gaussmeter three-axis measurement result analog module, by attitude matrix by the earth magnetism vector median filters under geographic coordinate system to body coordinate
Under system, you can obtain simulating the gaussmeter three-axis measurement result for generating.
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| CN112630807A (en) * | 2020-11-24 | 2021-04-09 | 洛阳师范学院 | Self-correction navigation method for failure of geomagnetic effect and satellite navigation |
| CN112630808A (en) * | 2020-11-26 | 2021-04-09 | 洛阳师范学院 | Correction navigation system for geomagnetic effect and satellite navigation failure |
| CN113984032A (en) * | 2021-11-04 | 2022-01-28 | 北京理工大学 | Fuel cell unmanned aerial vehicle electromagnetic interference suppression method coupled with flight trajectory |
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