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

作　　者：徐东甫 白越[1] 宫勋[1] 吴子毅[1,2] 续志军[1] 

机构地区：[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

出　　处：《光学精密工程》2016年第8期1940-1947,共8页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.11372309;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)

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。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 de- viation 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 pro-posed method, and the yaw error of the UAV reduces from 15°to less than 3°during the flight. It con-eludes that the method proposed in this paper effectively corrects the yaw error of the magnetic corn pass when it works at the high current and large control amount and the navigation accuracy and capa bility to variable loads of the UAV is improved greatly.

关 键 词：多旋翼无人机 磁罗盘 变控制量 硬磁误差 误差补偿 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V241.61