多旋翼无人机磁罗盘校准方法

为提高多旋翼无人机航向角解算精度，研究磁罗盘校准和罗差补偿方法。通过详细分析罗差产生原因，并结合多旋翼应用，将磁罗盘干扰划分为机体坐标系静态干扰、机体坐标系动态干扰、导航坐标系静态干扰、导航坐标系动态干扰四大类。针对机体坐标系动态干扰，结合多旋翼应用背景，研究干扰的离线测量与在线补偿方法；针对机体坐标系静态干扰，提出一种飞行过程中实时校准方法；针对导航坐标系静态干扰，创新性采用GNSS模块的速度方向信息修正罗差；导航坐标系动态干扰为原理性误差，这里暂不讨论。结果表明：研究内容可有效补偿机体坐标系动态与静态干扰，以及导航坐标系静态干扰对磁罗盘和航向角解算精度的影响，有助于改善无人机的飞行性能。

Calibration Method of Magnetic Compass for Multi-Rotor UAV

In order to improve the accuracy of multi-rotor UAV heading angle calculation, magnetic compass calibration and compass error compensation methods ware studied. Through detailed analysis of the causes of compass error, magnetic compass interference can be divided into four categories: static interference in airframe coordinate system, dynamic interference in airframe coordinate system, static interference in navigation coordinate system and dynamic interference in navigation coordinate system. Aiming at the dynamic interference in airframe coordinate system, the method of off-line measurement and on-line compensation was studied considering the Multi-Rotor UAV application; aiming at the static interference in airframe coordinate system, a new real-time calibration method in flight process was proposed; aiming at the static interference in navigation coordinate system, the velocity information of GNSS module was innovatively used to correct the compass error; the dynamic interference in navigation coordinate system was a principled error and was not discussed here. The results show that the research can effectively compensate the influence of dynamic and static interference in airframe coordinate system and static interference in navigation coordinate system on the accuracy of magnetic compass and heading angle calculation, and help to improve the flight performance of UAV.