Journal of Guangdong University of Technology ›› 2019, Vol. 36 ›› Issue (04): 42-45,69.doi: 10.12052/gdutxb.180171

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A Dynamic Calibration of Multi-rotor UAV Magnetometer Based on Least Square Method

Wang Mu-hua, Su Cheng-yue, Zhu Wen-jie, Cai Ze-peng, Ren Kai-zhong, Chen Yuan-dian, Xu Sheng   

  1. School of Physics and Optoelectronic Engineering, Guangdong University of Technology, Guangzhou 510006, China
  • Received:2018-12-19 Online:2019-06-18 Published:2019-05-31

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Abstract: Based on static calibration, a small angle least squares iterative method is proposed to modify the magnetometer of multi-rotor uav in real time. The least-squares curve is continuously fitted at a small angle to update the spherical center under the interference of motor magnetic field or the ambient magnetic field. The offset can be amended by the method and the magnetometer calibrated in real time to solve the problem of magnetometer error compensation when the multi-rotor uav flew in the air. Simulation and a large number of experiments indicate that the zero offset and dynamic calibration problem of magnetometer can be effectively solved.

Key words: multi-rotor, magnetometer, least-squares, dynamic, calibration

CLC Number: 

  • V241.61
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