The invention discloses an unmanned aerial vehicle magnetometer calibration method and device, a storage medium and an unmanned aerial vehicle, and the method comprises the steps: obtaining measurement data collected by a magnetometer in the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle; performing circle fitting according to x-axis data and y-axis data in the measurement data to obtain an x-axis offset, a y-axis offset and a circle radius; the z-axis offset is determined according to the magnetic field intensity and the circle radius of the place where the unmanned aerial vehicle is located and z-axis data in the measurement data; and calibrating real-time data acquired by the magnetometer according to the x-axis offset, the y-axis offset and the z-axis offset. The method is suitable for being used in the flight process of the unmanned aerial vehicle, the calibration mode is simple, the calculation amount is reduced, the response speed of the unmanned aerial vehicle is increased, the magnetometer can be calibrated more quickly, and it is guaranteed that the unmanned aerial vehicle can fly normally under the condition of magnetic interference.
本发明公开了一种无人机磁力计的校准方法、装置、存储介质及无人机,方法包括:在无人机飞行过程中,获取无人机中磁力计采集的测量数据;根据测量数据中的x轴数据和y轴数据进行圆形拟合,得到x轴偏移量、y轴偏移量和圆形半径;根据无人机所在地磁场强度、圆形半径和测量数据中的z轴数据,确定z轴偏移量;根据x轴偏移量、y轴偏移量和z轴偏移量对磁力计采集的实时数据进行校准。该方法适用于无人机在飞行过程中使用,且校准方式较为简单,且减少了计算量,使得无人机的响应速度加快,能够更快地校准磁力计,保证飞行在磁干扰的情况下可正常飞行。
Unmanned aerial vehicle magnetometer calibration method and device, storage medium and unmanned aerial vehicle
无人机磁力计的校准方法、装置、存储介质及无人机
2024-09-27
Patent
Electronic Resource
Chinese
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