基于最小二乘的多旋翼无人机磁力计动态校准  

A Dynamic Calibration of Multi-rotor UAV Magnetometer Based on Least Square Method

作　　者：王木华 苏成悦[1] 朱文杰 蔡则鹏 任开众 陈元电[1] 徐胜[1] Wang Mu-hua;Su Cheng-yue;Zhu Wen-jie;Cai Ze-peng;Ren Kai-zhong;Chen Yuan-dian;Xu Sheng(School of Physics and Optoelectronic Engineering,Guangdong University of Technology,Guangzhou 510006,China)

机构地区：[1]广东工业大学物理与光电工程学院

出　　处：《广东工业大学学报》2019年第4期42-45,69,共5页Journal of Guangdong University of Technology

基　　金：广东省科技计划项目(2017A020208063);广州市科技计划项目(201804010384)

摘　　要：在静态校准的基础上提出一种小角度最小二乘迭代法,实现多旋翼无人机的磁力计动态实时校准.对于电机磁场以及环境磁场的干扰,连续采用最小二乘在小角度下拟合弧线并解算出球心,反复更新球心坐标,实现偏差修正,使多旋翼无人机在空中飞行时能够实时校准磁力计,进一步改善磁力计误差补偿问题.通过仿真和大量实验验证,该方法能有效地追踪零偏,解决多旋翼无人机的磁力计动态校准问题.Based on static calibration,a small angle least squares iterative method is proposed to modify the magnetometer of multi-rotor uav in real time.The least-squares curve is continuously fitted at a small angle to update the spherical center under the interference of motor magnetic field or the ambient magnetic field.The offset can be amended by the method and the magnetometer calibrated in real time to solve the problem of magnetometer error compensation when the multi-rotor uav flew in the air.Simulation and a large number of experiments indicate that the zero offset and dynamic calibration problem of magnetometer can be effectively solved.

关 键 词：多旋翼 磁力计 最小二乘 动态 校准 

分 类 号：V241.61[航空宇航科学与技术—飞行器设计]