CN204329971U - A kind of magnetic compass calibrating installation of unmanned plane - Google Patents

Abstract

The utility model discloses a magnetic compass calibration device for an unmanned aerial vehicle, which comprises a horizontal calibration platform, a four-corner base, a vertical bearing of the base and four heightening screw seats; the drone is placed horizontally and vertically on the horizontal calibration platform On the placement area, the magnetic compass of the UAV is calibrated horizontally and vertically by rotating the horizontal calibration platform. The utility model realizes the calibration of the magnetic compass of the drone. The device is small in size and easy to operate. The magnetic compass of the drone can be calibrated without disassembling the inertial measurement unit of the drone. The magnetic compass calibration device can realize the horizontal calibration and vertical calibration of the magnetic compass of the UAV.

Description

A magnetic compass calibration device for an unmanned aerial vehicle

technical field

The utility model relates to a magnetic compass calibrating device of an unmanned aerial vehicle, in particular to a device for horizontally calibrating and vertically calibrating the magnetic compass of an unmanned aerial vehicle.

Background technique

The inertial measurement unit of the UAV is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an inertial measurement unit includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the acceleration signals of the three-axis independent object in the carrier coordinate system, and the gyroscope detects the angular velocity of the carrier relative to the navigation coordinate system. Signal, measure the angular velocity and acceleration of the object in three-dimensional space, and use this to calculate the attitude of the object. Inertial measurement unit has very important application value in UAV flight. Using three-axis geomagnetic decoupling and three-axis accelerometer, it is greatly affected by the acceleration of external force. In the environment of motion/vibration, the output direction angle error is relatively large. In addition, the geomagnetic sensor has shortcomings. Its absolute reference is the magnetic force line of the geomagnetic field. , The geomagnetism is characterized by a wide range of use. Due to the variability of the earth's magnetic field and the irregularity of the near-earth magnetic field, and small drones fly in ultra-low-altitude airspace, the impact of the near-earth magnetic field on the UAV's magnetic compass is particularly prominent. Therefore, when the UAV needs to fly safely and accurately in different regions, it is necessary to re-calibrate the aircraft magnetic compass in a new location due to changes in the field. In order for the inertial measurement unit to re-record and calibrate the new geomagnetic curve.

The simple method of on-site calibration in the past is usually as follows: 1. Manual calibration is the simplest, but the calibration error is extremely large because the human cannot completely level or completely move the center of the circle when the calibration is carried out by hand; 2. Detach the aircraft inertial measurement unit for calibration , because the inertial measurement unit usually needs to be installed at the center of gravity of the drone, it is not easy to disassemble and assemble on site.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a magnetic compass calibration device for an unmanned aerial vehicle, which can realize the calibration of the magnetic compass of the unmanned aerial vehicle without disassembling and assembling the inertial measurement unit.

The technical solution adopted by the utility model to solve the technical problem is: a magnetic compass calibration device for an unmanned aerial vehicle, including a horizontal calibration platform, a four-corner base, a vertical bearing of the base and four heightening screw seats;

The four-corner base includes a table top and four base legs; the upper ends of the four base legs are respectively connected to the corresponding bottom surface of the table top, and the lower ends of the four base legs are respectively movably connected with a heightening screw seat;

The lower end of the vertical bearing of the base is connected to the center of the upper surface of the square base, the upper end of the vertical bearing of the base is connected to the center of the bottom surface of the horizontal calibration platform, and the horizontal calibration platform can rotate horizontally along the vertical bearing of the base;

The horizontal calibration platform is provided with a placement area for placing the drone horizontally, wherein the distance from the ground of the lower end of the base leg is adjusted by adjusting the connection length of the heightening screw seat and the lower end of the base leg, so that the table top of the four-corner base It is in a horizontal position, and then the horizontal calibration platform is in a horizontal position; the drone is horizontally placed on the placement area of the horizontal calibration platform, and the magnetic compass of the drone is horizontally calibrated by rotating the horizontal calibration platform.

Preferably, the placement area of the horizontal calibration platform is also provided with a fixture for fixing the vertical placement of the drone, and the drone is vertically fixed on the horizontal calibration platform through the fixture, and the horizontal calibration platform can be adjusted by rotating the horizontal calibration platform. Magnetic compass for vertical calibration.

Preferably, the fixing member includes two buckles and two sliding grooves, and the two sliding grooves are centrally symmetrically arranged on the upper surface of the horizontal calibration table, and the two buckles are respectively located on the two on the chute; the snap fits move on the chute, and the distance between the two snaps is adjusted according to the size of the drone.

Preferably, the lower end of the base leg and the heightening screw seat are connected in a spiral manner; the lower end of the base leg is provided with internal threads, and the exterior of the heightening screw seat is provided with external threads. The engagement length of the external thread of the high screw seat and the internal thread of the lower end of the base leg is used to adjust the distance from the ground of the lower end of the base leg.

Preferably, the vertical bearing of the base is composed of multi-section bearing connections, which can perform telescopic movement in the vertical direction on the table of the four-corner base; the magnetic compass of the drone can be calibrated at different heights by stretching and shortening the vertical bearing of the base .

The beneficial effects of the utility model are:

1. The magnetic compass calibration device of the UAV is small in size and easy to operate;

2. The magnetic compass calibration device of the drone can calibrate the magnetic compass of the drone without disassembling the inertial measurement unit of the drone.

3. The magnetic compass calibration device of the drone can realize horizontal calibration and vertical calibration of the magnetic compass of the drone.

The utility model will be described in further detail below in conjunction with the accompanying drawings and embodiments; however, a magnetic compass calibration device for an unmanned aerial vehicle of the utility model is not limited to the embodiments.

Description of drawings

Fig. 1 is the front view of the utility model;

Fig. 2 is a top view of the utility model.

Detailed ways

Example

Referring to Figures 1 and 2, a magnetic compass calibration device for an unmanned aerial vehicle of the present invention includes a horizontal calibration platform 10, a square base 20, a base vertical bearing 30 and four heightening screw seats 40;

The four-corner base 20 includes a table top 201 and four base legs 202; the upper ends of the four base legs 202 are respectively connected to the corresponding bottom surfaces of the table top 201, and the lower ends of the four base legs 202 are respectively connected to a heightening screw seat 40 active connections;

The lower end of the base vertical bearing 30 is connected to the center of the upper surface of the square base 20 table top 201, and the upper end of the base vertical bearing 30 is connected to the center of the bottom surface of the horizontal calibration platform 10, and the horizontal calibration platform 10 can be Rotate horizontally along the vertical bearing 30 of the base;

Described horizontal calibration platform 10 is provided with the placement area that is used for horizontally placing unmanned aerial vehicle, wherein, adjust the distance from the ground of the lower end of base leg 202 by adjusting the connection length of heightening screw seat 40 and the lower end of base leg 202, make The table top 201 of the four-corner base 20 is in a horizontal position, so that the horizontal calibration platform 10 is in a horizontal position; the drone is horizontally placed on the placement area of the horizontal calibration platform 10, and the unmanned vehicle is adjusted by rotating the horizontal calibration platform 10. The machine's magnetic compass is calibrated horizontally.

Furthermore, the placement area of the horizontal calibration platform 10 is also provided with a fixture 50 for fixing the vertical placement of the drone. The drone is vertically fixed on the horizontal calibration platform through the fixture 50, and the horizontal calibration platform can be adjusted by rotating the horizontal calibration platform. The drone's magnetic compass is calibrated vertically. ;

Furthermore, the fixing member 50 includes two buckles 501 and two sliding slots 502, and the two sliding slots 502 are centrally symmetrically arranged on the upper surface of the horizontal calibration table 10, and the two buckles 501 are respectively located on the two chute 5002; the buckle 501 moves on the chute 502, and the distance between the two buckles 501 is adjusted according to the size of the drone.

Furthermore, the lower end of the base leg 202 and the heightening screw seat 40 adopt a spiral connection; Screw thread, adjust the distance from the ground of the lower end of the base leg 202 by adjusting the engagement length of the external thread of the heightening screw seat 40 and the internal thread of the lower end of the base leg 202 .

Furthermore, the base vertical bearing 30 is composed of multi-section bearing connections, and can perform telescopic movement in the vertical direction on the table 201 of the square base 20; by stretching and shortening the base vertical bearing 30, the magnetic compass of the drone can be adjusted. Perform horizontal calibration and vertical calibration at different heights.

The above-mentioned embodiments are only used to further illustrate a magnetic compass calibration device for an unmanned aerial vehicle of the present invention, but the present invention is not limited to the embodiments. Amendments, equivalent changes and modifications all fall within the scope of protection of the technical solution of the utility model.

Claims (5)

1. A magnetic compass calibration device for an unmanned aerial vehicle, comprising: a horizontal calibration platform, a four-corner base, a base vertical bearing and four heightening screw seats; The four-corner base includes a table top and four base legs; the upper ends of the four base legs are respectively connected to the corresponding bottom surfaces of the table top, and the lower ends of the four base legs are respectively movably connected to a heightening screw seat; The lower end of the vertical bearing of the base is connected to the center of the upper surface of the square base, the upper end of the vertical bearing of the base is connected to the center of the bottom surface of the horizontal calibration platform, and the horizontal calibration platform can rotate horizontally along the vertical bearing of the base; The horizontal calibration platform is provided with a placement area for placing the drone horizontally, wherein the distance from the ground of the lower end of the base leg is adjusted by adjusting the connection length of the heightening screw seat and the lower end of the base leg, so that the table top of the four-corner base It is in a horizontal position, and then the horizontal calibration platform is in a horizontal position; the drone is horizontally placed on the placement area of the horizontal calibration platform, and the magnetic compass of the drone is horizontally calibrated by rotating the horizontal calibration platform. 2. The magnetic compass calibration device of a kind of unmanned aerial vehicle according to claim 1, it is characterized in that: the placement area of described horizontal calibration platform is also provided with the fixture that is used for fixing the vertical placement of unmanned aerial vehicle, unmanned aerial vehicle The fixing part is vertically fixed on the horizontal calibration platform, and the magnetic compass of the drone can be calibrated vertically by rotating the horizontal calibration platform. 3. The magnetic compass calibration device of an unmanned aerial vehicle according to claim 2, characterized in that: said fixing member comprises two buckles and two chutes, and said two chutes are centrally symmetrical devices on On the upper surface of the horizontal calibration platform, the two buckles are respectively located on the two chutes; the buckles are matched to move on the chutes, and the gap between the two buckles is adjusted according to the size of the drone. distance. 4. The magnetic compass calibration device of a kind of unmanned aerial vehicle according to claim 1, it is characterized in that: the lower end of the base leg and the heightening screw seat adopt a spiral connection mode; An internal thread is provided, and an external thread is provided on the outside of the heightening screw seat, and the distance from the ground of the lower end of the base leg is adjusted by adjusting the engagement length of the external thread of the heightening screw seat and the internal thread of the lower end of the base leg. 5. The magnetic compass calibration device of a kind of unmanned aerial vehicle according to claim 1, it is characterized in that: the vertical bearing of the base is composed of multi-section bearing connections, which can be telescopically moved in the vertical direction on the table surface of the four-corner base; Stretching and shortening the base vertical bearings calibrates the UAV's magnetic compass at different heights.