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Alternative TitleMagnetic Compass Error Analysis and Calibration for Rotorcraft Flying Robot
戴磊; 齐俊桐; 吴冲; 韩建达
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20123615396344
Contribution Rank1
Funding Organization国家科技支撑计划资助项目(2011BAD20B07); 国家863计划资助项目(2011AA040202;2012AA041501)
Keyword磁罗盘 校准 椭圆拟合 硬磁误差
Other AbstractWith 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 process,but its calibration precision is not decreased.The actual calibration test of the magnetic compass shows that the proposed calibration method can effectively correct the measurements’ ellipsoidal distribution of the original magnetic field,and it also can improve the heading angle calculation precision of integrated navigation system.This method can simplify the calibration process and avoid to stick up the huge robot.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
戴磊,齐俊桐,吴冲,等. 旋翼飞行机器人磁罗盘误差分析及校准[J]. 机器人,2012,34(4):418-423,484.
APA 戴磊,齐俊桐,吴冲,&韩建达.(2012).旋翼飞行机器人磁罗盘误差分析及校准.机器人,34(4),418-423,484.
MLA 戴磊,et al."旋翼飞行机器人磁罗盘误差分析及校准".机器人 34.4(2012):418-423,484.
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