关键词: 微磁数字罗盘, MUAV, GPS, MIMU, 姿态确定, 干扰磁场校正

Abstract:

On account of high cost, low response frequency and easy divergence when attitude is determined in dynamic movement, the existing micro magnetic compass is not accurate enough to be used for the navigation and control system of micro unmanned aerial vehicle (MUAV). To overcome these shortcomings, an integrated system, micro magnetic compass, based on the characteristics of MUAV is designed and implemented. Through estimating the state of MUAV utilizing the zdirection gyro in micro inertia measurement unit (MIMU), this system is proved to be capable to determine the attitude by both gravity vector from acceleration meters and magnetic field vector from magnetic resistance sensors. A tridimensional compensating method for the magnetic disturbance is also verified. The experiments show that this system, with good collective performance, 0.5° heading accuracy, 1/5 cost and 50 Hz response frequency, is able to meet the requirements of extraordinary precision, low cost and real time communication.

Key words: micro , magnetic , compass,  , MUAV,  , GPS, MIMU,  , attitude , determination,  , magnetic , disturbance , compensating