旋翼飞行机器人磁罗盘误差分析及校准-中国科学院沈阳自动化研究所.PDF

34 4 ROBOT Vol.34, No.4 2012 7 July, 2012 DOI 10.3724/SP.J.1218.2012.00418 12 1 12 1 1. 110016 2. 100049 5 TP24 A 1002-0446(2012)-04-0418-06 Magnetic Compass Error Analysis and Calibration for Rotorcraft Flying Robot DAI Lei 12 QI Juntong1 WU Cong12 HAN Jianda1 (1. State Key Laboratory of Robotics, Shenyang Institute of Automation , Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate University of Chinese Academy of Sciences, Beijing 100049, China) Abstract: With the research background of the rotorcraft flying robot’s integrated navigation system, an error calibration method for electric magnetic compass is proposed. Based on the analysis of the magnetic compass’s measurement theory and error sources, 5 main factors which affect the heading angle calculation precision of the magnetic compass, are summarized. In response to the mentioned error factors, software and hardware solutions are proposed. Considering the specialties of rotorcraft flying robot, a simplified calibration method for magnetic compass is proposed to calibrate the hard magnetism errors and scale factor errors. The simplified magnetic compass calibration method can avoid sticking up the robot during calibration