无人机中磁航向自修正应用

以无人机组合导航系统为研究背景,针对磁传感器的误差校准方法,以及校准后磁航向误差进行研究。通过分析磁传感器误差来源,给出水平面内椭圆直接拟合模型。考虑磁传感器修正后的磁航向与GPS航迹角之间存在一定误差,建立航向误差角与磁航向之间的学习函数,从而辅助在GPS丢失情况下,采用学习后的磁航向来辅助无人机导航。飞行实验结果表明,利用该文采用的椭圆模型以及自学习函数,能够提高磁航向精度,从而可以辅助无人机在GPS丢失情况下航向解算。

Magnetic Heading Self correction Method Applying to UAV

Taking the navigation system for unmanned aerial vehicle (UVA) as research background, the error correction method of magnetic sensor and magnetic heading error after calibration have been researched in this work. By analyzing the magnetic sensor error sources, the horizontal plane ellipse direct fitting model is established. Considering some errors existing between GPS track angle and magnetic heading angle calculated by corrected magnetic sensor, a learning function between heading error angle and the magnetic heading is given, which assisted UAV navigation by using magnetic heading learned in the case of losing GPS. Flight test results show that the elliptical model and self learning function proposed in this paper can improve the accuracy of magnetic heading, which can assist the UAV to calculate heading angle in the case of GPS losing.