Research on magnetic compass calibration for air-ground amphibious robot system

摘要

Focusing on the background of utilizing magnetic compass in the air-ground amphibious robot system, this paper explores error compensation of magnetic compass in the process of moving on the ground and the air. Based on the error analysis on the air-ground amphibious robot magnetic compass, this paper applies the ellipsoid fitting algorithm for error identification of this model coefficient and thus calibration of magnetic compass is realized in the flight. Finally, through the processing of three sets of data together with the comparison of the traditional empirical Calibration methods, the effectiveness of the proposed method is verified.