无人机航向测量的罗差修正研究

 针对数字式磁航向测量系统在无人机上的应用,系统地研究了任意姿态下的罗差修正问题。通过分析罗差形成的原因,提出一种更为简单的罗差修正方法和确定罗差系数的工程方法。为了减少试验工作量和试验数据的错误,用计算机检验罗差系数的正确性,并提出试验数据正确性的检验方法。实验结果表明,该方法是很有效的。这种方法不仅可用于无人机,也可用于车辆、轮船等其它运载工具。

MAGNETIC DEVIATION COMPENSATION FOR UAV'S HEADING MEASUREMENT

Digital magnetic heading measuring system (DMHMS) is an essential device of modern unmanned aerial vehicles(UAV).The accuracy of the system itself is high enough,but the error caused by ferro material onboard(called magnetic deviation)is unavoidable due to the small size of UAV.This paper studies magnetic deviation compensation for arbitrary attitudes of UAV equipped with DMHMS.After analyzing the cause of deviation,an algorithm,which is able to eliminate the errors influenced by ferro material onboard before heading computation,is used to decrease computation.Deviation coefficients required in the algorithm are obtained from experiment mentioned in the paper in details.The correctness of the deviation coefficients can be examined by a computer so that there is no need of experiment repeated.In order to avoid confusion in the experiment data, a method which can find mistakes in experiment data is proposed.The methods discused in the paper have been successfully used in some UAV which needs deviation compensation in arbitrary attitudes. It can be used not only in UAV but also in other vehicles such as cars and ships.