多旋翼无人机在变控制量下的三轴磁罗盘校正

徐东甫; 白越; 宫勋; 吴子毅; 续志军

doi:10.3788/OPE.20162408.1940

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多旋翼无人机在变控制量下的三轴磁罗盘校正

微纳技术与精密机械 | 更新时间：2020-07-07

- 多旋翼无人机在变控制量下的三轴磁罗盘校正
- Correction of 3-axis magnetic compass in multi-rotor UAV under variable control amounts
- Editorial Office of Optics and Precision Engineeri 2016年24卷第8期页码：1940-1947
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2.中国科学院大学, 北京 100039
- 作者简介：
  
  [ "徐东甫(1987-)，男，吉林省吉林市人，博士研究生，2011年于吉林大学获得学士学位，主要从事无人飞行器组合导航与控制方面的研究。E-mail：xu.dong.fu@163.com" ]
  E-mail: baiy@ciomp.ac.cn
  [ "续志军(1953-)，男，吉林长春人，研究员，博士生导师，主要从事电子技术、自动控制方面的研究。E-mail：xuzj538@ciomp.ac.cn" ]
- 基金信息：
  
  国家自然科学基金资助项目(No.11372309);国家自然科学基金资助项目(No.61304017);吉林省科技发展计划重点项目(No.20150204074GX);吉林省与中科院合作科技专项资金资助项目(No.2014SYHZ0004)
- DOI：10.3788/OPE.20162408.1940
  中图分类号： V279;V241.61
- 收稿日期：2015-11-12，
  
  录用日期：2016-1-11，
  
  纸质出版日期：2016-08-25
- 稿件说明：
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徐东甫, 白越, 宫勋, 等. 多旋翼无人机在变控制量下的三轴磁罗盘校正[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1940-1947.

Dong-fu XU, Yue BAI, Xun GONG, et al. Correction of 3-axis magnetic compass in multi-rotor UAV under variable control amounts[J]. Optics and precision engineering, 2016, 24(8): 1940-1947.
徐东甫, 白越, 宫勋, 等. 多旋翼无人机在变控制量下的三轴磁罗盘校正[J]. Editorial Office of Optics and Precision Engineeri, 2016,24(8):1940-1947. DOI： 10.3788/OPE.20162408.1940.

Dong-fu XU, Yue BAI, Xun GONG, et al. Correction of 3-axis magnetic compass in multi-rotor UAV under variable control amounts[J]. Optics and precision engineering, 2016, 24(8): 1940-1947. DOI： 10.3788/OPE.20162408.1940.

摘要

为了在特殊环境下有效使用多旋翼无人机飞行器的磁罗盘，研究了大电流、控制量变化情况下磁罗盘的校正问题，提出了一种磁罗盘自适应校准方法。推导了磁罗盘误差的变化规律并建立了误差模型，分析了硬磁误差随控制量变化的规律，进而提出了一种基于整体最小二乘法的空间直线拟合方法。通过空间直线拟合，将得到的控制量和硬磁补偿的对应关系用于实时调整对空间飞行器的硬磁补偿，最终解决了控制量变化对磁罗盘的影响。进行了实验验证，结果表明：提出的方法可将飞行器控制量变化带来的磁罗盘硬磁误差基本抵消；在实际飞行中，多旋翼无人飞行器的偏航误差可由最大的15°减小到3°以内。本文所给出的方法在控制量变化，大电流情况下使用时，可以很好地校正磁罗盘航向角误差，提高导航精度。

Abstract

To use effectively the magnetic compass in a multi-rotor Unmanned Aerial Vehicle(UAV) in special environments

this paper researches the magnetic deviation correction method when it works at a large current and a variable control amount. Firstly

the variation patterns of magnetic deviation were derived and an error model was established. The relationship between hard magnetic error and the control amount was also analyzed. Then

a spatial linear fitting method was proposed based on Total Least Square (TLS). Finally

the relationship between hard magnetic error and control amount was adopted to implement the hard magnetic compensation of the UAV. In this way

the magnetic deviation was adaptively compensated and the compass was corrected in real time. Experimental results indicate that the hard magnetic deviation from the changed control amount can be counteracted by proposed method

and the yaw error of the UAV reduces from 15°to less than 3°during the flight. It concludes that the method proposed in this paper effectively corrects the yaw error of the magnetic compass when it works at the high current and large control amount and the navigation accuracy and capability to variable loads of the UAV is improved greatly.

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references

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