CN204329971U - A kind of magnetic compass calibrating installation of unmanned plane - Google Patents
A kind of magnetic compass calibrating installation of unmanned plane Download PDFInfo
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- CN204329971U CN204329971U CN201420850720.2U CN201420850720U CN204329971U CN 204329971 U CN204329971 U CN 204329971U CN 201420850720 U CN201420850720 U CN 201420850720U CN 204329971 U CN204329971 U CN 204329971U
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- unmanned plane
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- horizontal alignment
- magnetic compass
- alignment platform
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- 238000009434 installation Methods 0.000 title claims abstract description 18
- 238000004904 shortening Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000001133 acceleration Effects 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a kind of magnetic compass calibrating installation of unmanned plane, comprise horizontal alignment platform, corner base, the vertical bearing of base and four strong high screw bolt seats; By unmanned plane horizontal positioned horizontal and vertical on the rest area of described horizontal alignment platform, by rotating described horizontal alignment platform, horizontal alignment and vertical calibration are carried out to the magnetic compass of unmanned plane.The utility model achieves the calibration of the magnetic compass of unmanned plane, this device volume is little, simple to operately just can calibrate the magnetic compass of unmanned plane without the need to carrying out dismounting to the Inertial Measurement Unit of unmanned plane, the magnetic compass calibrating installation of this unmanned plane can realize horizontal alignment to the magnetic compass of unmanned plane and vertical calibration.
Description
Technical field
The utility model relates to a kind of magnetic compass calibrating installation of unmanned plane, particularly relates 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.
Utility model content
The utility model object is the deficiency overcoming prior art, provides a kind of 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 utility model solves the technical scheme that its technical matters adopts: a kind of magnetic compass calibrating installation of unmanned plane, comprises horizontal alignment platform, corner base, the vertical bearing of base and four rectify 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 being lain in a horizontal plane on the rest area of described horizontal alignment platform, by rotating described horizontal alignment platform, horizontal alignment being 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 beneficial effects of the utility model are:
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 utility model is described in further detail; But the magnetic compass calibrating installation of a kind of unmanned plane of the present utility model is not limited to embodiment.
Accompanying drawing explanation
Fig. 1 is front elevation of the present utility model;
Fig. 2 is vertical view of the present utility model.
Embodiment
Embodiment
Shown in Fig. 1 and Fig. 2, the magnetic compass calibrating installation of a kind of unmanned plane of the present utility model, 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 being lain in a horizontal plane on the rest area of described horizontal alignment platform 10, by rotating described horizontal alignment platform 10, horizontal alignment being 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 a kind of unmanned plane of the present utility model; but the utility model is not limited to embodiment; every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all fall in the protection domain of technical solutions of the utility model.
Claims (5)
1. a magnetic compass calibrating installation for 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 being lain in a horizontal plane on the rest area of described horizontal alignment platform, by rotating described horizontal alignment platform, horizontal alignment being carried out to the magnetic compass of unmanned plane.
2. the magnetic compass calibrating installation of a kind 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 a kind 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 a kind 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 a kind 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 |
|---|---|---|---|
| CN201420850720.2U CN204329971U (en) | 2014-12-26 | 2014-12-26 | A kind of magnetic compass calibrating installation of unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420850720.2U CN204329971U (en) | 2014-12-26 | 2014-12-26 | A kind of magnetic compass calibrating installation of unmanned plane |
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| Publication Number | Publication Date |
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| CN204329971U true CN204329971U (en) | 2015-05-13 |
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| CN201420850720.2U Expired - Fee Related CN204329971U (en) | 2014-12-26 | 2014-12-26 | A kind of magnetic compass calibrating installation of unmanned plane |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104655114A (en) * | 2014-12-26 | 2015-05-27 | 国家电网公司 | Calibration device for magnetic compass of unmanned aerial vehicle |
| CN105217054A (en) * | 2015-10-12 | 2016-01-06 | 西北农林科技大学 | A kind of fixed-wing VUAV detects landing platform automatically |
| CN107917704A (en) * | 2017-11-17 | 2018-04-17 | 上海拓攻机器人有限公司 | A kind of magnetic compass calibration method and device, computer-readable recording medium |
| CN108050979A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of angle measurement system and method that detection is examined for unmanned plane |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN114858149A (en) * | 2022-07-04 | 2022-08-05 | 深圳市边界智控科技有限公司 | Calibration device of magnetic compass and unmanned aerial vehicle using same |
-
2014
- 2014-12-26 CN CN201420850720.2U patent/CN204329971U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104655114A (en) * | 2014-12-26 | 2015-05-27 | 国家电网公司 | Calibration device for magnetic compass of unmanned aerial vehicle |
| CN105217054A (en) * | 2015-10-12 | 2016-01-06 | 西北农林科技大学 | A kind of fixed-wing VUAV detects landing platform automatically |
| US11368002B2 (en) | 2016-11-22 | 2022-06-21 | Hydro-Quebec | Unmanned aerial vehicle for monitoring an electrical line |
| CN107917704A (en) * | 2017-11-17 | 2018-04-17 | 上海拓攻机器人有限公司 | A kind of magnetic compass calibration method and device, computer-readable recording medium |
| CN107917704B (en) * | 2017-11-17 | 2019-03-08 | 上海拓攻机器人有限公司 | A kind of magnetic compass calibration method and device, computer readable storage medium |
| CN108050979A (en) * | 2017-12-04 | 2018-05-18 | 国网山东省电力公司电力科学研究院 | A kind of angle measurement system and method that detection is examined for unmanned plane |
| CN108050979B (en) * | 2017-12-04 | 2020-05-12 | 国网山东省电力公司电力科学研究院 | Angle measuring system and method for unmanned aerial vehicle inspection and detection |
| CN114858149A (en) * | 2022-07-04 | 2022-08-05 | 深圳市边界智控科技有限公司 | Calibration device of magnetic compass and unmanned aerial vehicle using same |
| CN114858149B (en) * | 2022-07-04 | 2022-09-06 | 深圳市边界智控科技有限公司 | Calibration device of magnetic compass and unmanned aerial vehicle using same |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20201226 |
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| CF01 | Termination of patent right due to non-payment of annual fee |