无人飞行器背景磁场学习方法研究

精确补偿飞行器背景磁干扰是航磁测量的一项关键技术。针对无人飞行器在模型求解前的学习飞行问题，在Tolles-Lawson模型的基础上考虑了地磁梯度的影响，提出了一种折线飞行的学习方法，并对不同学习路径进行了讨论。通过仿真实验与实测飞行数据验证可知：文中提出的折线飞行方法求解的模型参数能够较好地补偿飞行器的背景磁干扰，同时在学习飞行时，增加航向数有利于模型参数的精确求解；在航向数相同的情况下，学习航向越相互垂直，模型参数求解的精度越高。

Research on Learning Flight for Unmanned Aircraft in Background Magnetic Field

The compensation of aircraft's magnetic field interference is a key technology in aeromagnetic survey. For the flight learning problem of unmanned aircrafts, Tolles-Lawson model is improved with the consideration of geomagnetic gradient, a fold line flight method is proposed, and the different flight paths are discussed. The parameters calculated using the proposed fold line flight method have a good result in aeromagnetic compensation according to simulated and real flight data. And increase in numbers of courses is helpful for obtaining more precise parameters with the method. If learning courses are more orthogonal to each other in the condition of same numbers of courses, the calculated parameters is more precise as well.