CN112833867B - Method for calibrating magnetic compass of unmanned aerial vehicle based on ground station software - Google Patents
Method for calibrating magnetic compass of unmanned aerial vehicle based on ground station software Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/02—Magnetic compasses
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
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Abstract
A method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software, the method comprising the steps of: placing the unmanned aerial vehicle and the mobile terminal in a first magnetic field environment; calibrating magnetic compasses on the unmanned aerial vehicle and the mobile terminal respectively by using ground station software; acquiring first magnetic compass calibration information and second magnetic compass calibration information corresponding to the unmanned aerial vehicle and the mobile terminal; placing the drone and the mobile terminal in a second magnetic field environment; calibrating a magnetic compass on the mobile terminal by using the ground station software; acquiring third magnetic compass calibration information of the mobile terminal; calculating relative calibration information of the magnetic compass according to the second magnetic compass calibration information and the third magnetic compass calibration information; and calculating fourth magnetic compass calibration information corresponding to the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment according to the first magnetic compass calibration information and the magnetic compass relative calibration information. The method is simple and convenient to operate, and less in time consumption.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle magnetic compass calibration, and particularly relates to a method for calibrating an unmanned aerial vehicle magnetic compass based on ground station software.
Background
The earth's magnetic field is like a bar magnet, pointing from the magnetic south pole to the magnetic north pole, with the magnetic field at the pole point being perpendicular to the local horizontal plane and the magnetic field at the equator being parallel to the local horizontal plane. For a fixed location, the earth's magnetic field is a vector that can be decomposed into two components, one parallel to the local horizontal plane and the other perpendicular to the local horizontal plane.
When using an electronic compass, if the electronic compass is kept parallel to the local horizontal plane, the three axes (X, Y, and Z axes) of the magnetometers in the compass correspond one-to-one to the three components (X, Y, and Z components) of the earth's magnetic field. In fact, for both components in the horizontal direction, their vector sum always points to magnetic north. The heading angle (Az imuth) in the compass is the angle between the current direction and magnetic north. Since the compass is kept horizontal, the heading angle can be calculated by using only the detected data of two axes (usually the X axis and the Y axis) of the magnetometer in the horizontal direction. When the compass is rotated horizontally, the heading angle varies between 0-360 degrees.
The magnetic north direction is calculated by measuring the magnetic induction intensity of the electronic magnetic compass in 3 directions, and the function of the compass is realized. However, the earth magnetic field is only weak 0.5 gauss in general, while a general mobile phone horn at a distance of 2 cm still has a magnetic field of about 4 gauss, and a mobile phone motor at a distance of 2 cm has a magnetic field of about 6 gauss, which makes the measurement of the earth magnetic field on the surface of the electronic device easily interfered by the electronic device itself.
For unmanned aerial vehicle, metal parts, flight control hardware circuit board, motor etc. in the organism all can produce interference magnetic field, and this causes the earth magnetism value of the place that the electron magnetic compass on the aircraft measured and true earth magnetism value to have the deviation between. Therefore, in order to correctly calculate the current heading angle, the deviation value needs to be calculated, i.e. the magnetic compass needs to be calibrated.
It is generally considered that the interfering magnetic field is a constant vector (when the position of the electronic magnetic compass relative to the body is unchanged and the structure of the airplane body is unchanged), and in the coordinate system of the magnetic sensor, the projection trajectory in the XY plane during the circular motion of the earth magnetic field vector around the z axis will be a standard circle with the origin (coordinates (0,0)) as the center without any external magnetic field interference. When there is external magnetic field interference, the measured magnetic field strength vector α will be the vector sum of the earth magnetic field β and the interference magnetic field γ at that point, and will be written as: α ═ β + γ. In general, when the device with the sensor is rotated in all directions in the air, the spatial geometry of the measured values is actually a sphere, and all the sampling points fall on the surface of the sphere.
The specific calibration process of the magnetic compass of the unmanned aerial vehicle is as follows: ground station software connects unmanned aerial vehicle and sends and begins the calibration command, the inside magnetic compass alignment state that gets into of unmanned aerial vehicle to inform the ground station with the calibration process, ground station software shows corresponding operation suggestion according to the notice that receives, and the operation personnel are according to ground station software's operation suggestion with six faces of unmanned aerial vehicle down in proper order, and at the horizontal direction 360 degrees with unmanned aerial vehicle rotation around fixed central point, at this in-process, the flight control can sample the aforesaid the partial surface of spheroid to deduce the position of centre of sphere, the size and the direction of magnetic field interference vector promptly, after the calibration is accomplished, the flight control can be saved the vector of calculation to the memory for the direction is confirmed in the magnetic compass during operation.
However, the above calibration method has the following disadvantages:
(1) the calibration process is complicated, and for the unmanned aerial vehicle with a large size, the rotation operation of the unmanned aerial vehicle body is performed by facing the six surfaces of the unmanned aerial vehicle body downwards, which is not very convenient;
(2) when the airplane is transported over a certain distance, the change of the geomagnetism causes that the interference vector obtained by the previous calibration cannot correctly calculate the heading angle of the airplane, and the recalibration is needed, namely the recalibration is needed every time the airplane is transported over a certain distance. Wasting manpower and material resources.
Disclosure of Invention
In view of the above, the present invention provides a method for calibrating a drone magnetic compass based on ground station software that overcomes or at least partially solves the above-mentioned problems.
In order to solve the technical problem, the invention provides a method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software, which comprises the following steps:
placing an unmanned aerial vehicle and a mobile terminal in a first magnetic field environment;
performing a first calibration on a magnetic compass on the drone using ground station software;
acquiring first magnetic compass calibration information of the unmanned aerial vehicle;
performing a second calibration of a magnetic compass on the mobile terminal using the ground station software;
acquiring second magnetic compass calibration information of the mobile terminal;
placing the drone and the mobile terminal in a second magnetic field environment;
performing third calibration on a magnetic compass on the mobile terminal by using the ground station software;
acquiring third magnetic compass calibration information of the mobile terminal;
calculating relative calibration information of the magnetic compass according to the second magnetic compass calibration information and the third magnetic compass calibration information;
and calculating fourth magnetic compass calibration information corresponding to the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment according to the first magnetic compass calibration information and the magnetic compass relative calibration information.
Preferably, the placing the drone and the mobile terminal in the first magnetic field environment comprises the steps of:
selecting a mobile terminal configured with a magnetic compass;
connecting the unmanned aerial vehicle and the mobile terminal to form a combined body;
placing the combination in the first magnetic field environment.
Preferably, the first calibration of the magnetic compass on the drone using ground station software comprises the steps of:
connecting the ground station software with the drone;
the ground station software sends a calibration starting instruction to the unmanned aerial vehicle;
the ground station software displays preset calibration operation;
controlling the unmanned aerial vehicle to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the unmanned aerial vehicle;
and calculating a magnetic field interference vector corresponding to the unmanned aerial vehicle according to the motion trail and the ground station software.
Preferably, the step of controlling the unmanned aerial vehicle to rotate by a preset angle according to the preset calibration operation includes:
sequentially controlling six surfaces of the unmanned aerial vehicle to face downwards respectively;
rotating the drone 360 degrees in a horizontal direction about a fixed center point.
Preferably, the second calibration of the magnetic compass on the mobile terminal using the ground station software comprises the steps of:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
Preferably, said placing said drone and said mobile terminal in a second magnetic field environment comprises the steps of:
acquiring a combination formed by connecting the unmanned aerial vehicle and the mobile terminal;
placing the combination in the second magnetic field environment.
Preferably, the third calibration of the magnetic compass on the mobile terminal by using the ground station software comprises the following steps:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
Preferably, the controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation includes:
sequentially controlling six surfaces of the mobile terminal to face downwards respectively;
the mobile terminal is rotated 360 degrees around a fixed center point in a horizontal direction.
Preferably, the expression of the fourth magnetic compass calibration information is:
A＝B+C；
wherein A represents the fourth magnetic compass calibration information, B represents the first magnetic compass calibration information, and C represents the magnetic compass relative calibration information.
Preferably, the expression of the relative calibration information of the magnetic compass is as follows:
C＝D-E；
wherein C represents the relative calibration information of the magnetic compass, D represents the third magnetic compass calibration information, and E represents the second magnetic compass calibration information.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: the method for calibrating the magnetic compass of the unmanned aerial vehicle based on the ground station software is simpler and more convenient to calibrate the magnetic compass, and less time is spent.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and examples, and the advantages and various effects of the present invention will be more clearly apparent therefrom. It will be understood by those skilled in the art that these specific embodiments and examples are for the purpose of illustrating the invention and are not to be construed as limiting the invention.
Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control.
Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment and the like used in the present invention are commercially available or can be prepared by existing methods.
As shown in fig. 1, in the embodiment of the present application, the present invention provides a method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software, the method including the steps of:
s1: placing the unmanned aerial vehicle and the mobile terminal in a first magnetic field environment;
s2: performing a first calibration of a magnetic compass on the drone using ground station software;
s3: acquiring first magnetic compass calibration information of the unmanned aerial vehicle;
s4: performing a second calibration of a magnetic compass on the mobile terminal using the ground station software;
s5: acquiring second magnetic compass calibration information of the mobile terminal;
s6: placing the drone and the mobile terminal in a second magnetic field environment;
s7: performing third calibration on a magnetic compass on the mobile terminal by using the ground station software;
s8: acquiring third magnetic compass calibration information of the mobile terminal;
s9: calculating relative calibration information of the magnetic compass according to the second magnetic compass calibration information and the third magnetic compass calibration information;
s10: and calculating fourth magnetic compass calibration information corresponding to the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment according to the first magnetic compass calibration information and the magnetic compass relative calibration information.
In the embodiment of the application, when calibrating the magnetic compass of the unmanned aerial vehicle, firstly, the unmanned aerial vehicle and the mobile terminal are placed in a first magnetic field environment, and ground station software is used for calibrating the magnetic compasses on the unmanned aerial vehicle and the mobile terminal respectively, so that first magnetic compass calibration information and second magnetic compass calibration information corresponding to the unmanned aerial vehicle and the mobile terminal can be acquired; then placing the unmanned aerial vehicle and the mobile terminal in a second magnetic field environment, and calibrating a magnetic compass on the mobile terminal by using the ground station software, wherein third magnetic compass calibration information of the mobile terminal can be acquired at the moment; and then, calculating magnetic compass relative calibration information according to the second magnetic compass calibration information and the third magnetic compass calibration information, and then calculating fourth magnetic compass calibration information corresponding to the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment according to the first magnetic compass calibration information and the magnetic compass relative calibration information.
Specifically, the mobile terminal can obtain the second magnetic compass calibration information and the third magnetic compass calibration information in the first magnetic field environment and the second magnetic field environment respectively, and can calculate a deviation value between the first magnetic field environment and the second magnetic field environment, that is, the magnetic compass relative calibration information, and at this time, the fourth magnetic compass calibration information of the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment can be calculated according to the magnetic compass relative calibration information and the first magnetic compass calibration information of the magnetic compass on the unmanned aerial vehicle in the first magnetic field environment.
In the embodiment of the present application, the placing the drone and the mobile terminal in the first magnetic field environment in step S1 includes the steps of:
selecting a mobile terminal configured with a magnetic compass;
connecting the unmanned aerial vehicle and the mobile terminal to form a combined body;
placing the combination in the first magnetic field environment.
In this application embodiment, the mobile terminal needs to have a magnetic compass, and at this moment, the mobile terminal can select intelligent devices such as a mobile phone, an intelligent watch and a tablet computer, and the intelligent devices all have the magnetic compass. When carrying out the calibration in the first magnetic field environment to unmanned aerial vehicle and mobile terminal, need be connected unmanned aerial vehicle and mobile terminal and form the assembly, then place the assembly in the first magnetic field environment.
In this embodiment of the present application, the first calibration of the magnetic compass on the drone using the ground station software in step S2 includes the steps of:
connecting the ground station software with the unmanned aerial vehicle;
the ground station software sends a calibration starting instruction to the unmanned aerial vehicle;
the ground station software displays preset calibration operation;
controlling the unmanned aerial vehicle to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the unmanned aerial vehicle;
and calculating the magnetic field interference vector corresponding to the unmanned aerial vehicle by the ground station software according to the motion trail.
In this embodiment of the present application, the specific steps of using ground station software to perform the first calibration on the magnetic compass on the unmanned aerial vehicle are: ground station software connects unmanned aerial vehicle and sends and begin the calibration command, the inside magnetic compass alignment state that gets into of unmanned aerial vehicle to inform the ground station with the calibration process, ground station software shows corresponding operation suggestion according to the notice received, the operation personnel according to ground station software's operation suggestion with unmanned aerial vehicle according to the rotatory preset angle of operation suggestion, at this in-process, it can sample the aforesaid to fly the accuse the spheroidal partial surface to deduce the position of centre of sphere, the size and the direction of magnetic field interference vector promptly, after the calibration is accomplished, it can save the vector of calculation to fly the accuse to the memory for the magnetic compass during operation confirms the direction.
In this application, the controlling the rotation of the unmanned aerial vehicle by the preset angle according to the preset calibration operation includes:
sequentially controlling six surfaces of the unmanned aerial vehicle to face downwards respectively;
rotating the drone 360 degrees in a horizontal direction about a fixed center point.
In this application embodiment, when the operation suggestion according to ground station software of operation personnel with unmanned aerial vehicle according to the rotatory preset angle of operation suggestion, specifically, the operation personnel according to ground station software's operation suggestion with six faces of unmanned aerial vehicle down in proper order, rotate 360 degrees unmanned aerial vehicle around fixed central point at the horizontal direction.
In the embodiment of the present application, the second calibration of the magnetic compass on the mobile terminal by using the ground station software in step S4 includes the steps of:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
In this embodiment of the present application, the specific steps of using the ground station software to perform the second calibration on the magnetic compass on the mobile terminal are as follows: the ground station software is connected with the mobile terminal and sends a calibration starting command, the mobile terminal enters a magnetic compass calibration state and informs the ground station of a calibration process, the ground station software displays a corresponding operation prompt according to the received notification, an operator rotates the mobile terminal by a preset angle according to the operation prompt of the ground station software, in the process, the ground station software can sample part of the surface of the sphere so as to deduce the position of the sphere center, namely the size and the direction of a magnetic field interference vector, and after the calibration is finished, the ground station software can store the calculated vector into the memory for determining the direction when the magnetic compass works.
In the embodiment of the present application, when the operator rotates the mobile terminal by a preset angle according to the operation prompt of the ground station software, specifically, the operator rotates the mobile terminal by 360 degrees around the fixed center point in the horizontal direction by sequentially facing six sides of the mobile terminal downward according to the operation prompt of the ground station software.
In this embodiment, the placing the drone and the mobile terminal in the second magnetic field environment in step S6 includes the steps of:
acquiring a combined body formed by connecting the unmanned aerial vehicle and the mobile terminal;
placing the combination in the second magnetic field environment.
In this application embodiment, unmanned aerial vehicle and mobile terminal are connected in advance and are formed the assembly, place the assembly in second magnetic field environment, then can carry out the calibration in the second magnetic field environment to mobile terminal.
In the embodiment of the present application, the third calibration of the magnetic compass on the mobile terminal by using the ground station software in step S7 includes the steps of:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
In the embodiment of the present application, the specific steps of using the ground station software to perform the third calibration on the magnetic compass on the mobile terminal are as follows: the ground station software is connected with the mobile terminal and sends a calibration starting command, the mobile terminal enters a magnetic compass calibration state and informs the ground station of a calibration process, the ground station software displays a corresponding operation prompt according to the received notification, an operator rotates the mobile terminal by a preset angle according to the operation prompt of the ground station software, in the process, the ground station software can sample part of the surface of the sphere so as to deduce the position of the sphere center, namely the size and the direction of a magnetic field interference vector, and after the calibration is finished, the ground station software stores the calculated vector into a memory for determining the direction when the magnetic compass works.
In the embodiment of the present application, when the operator rotates the mobile terminal by a preset angle according to the operation prompt of the ground station software, specifically, the operator rotates the mobile terminal by 360 degrees around the fixed center point in the horizontal direction by sequentially facing six sides of the mobile terminal downward according to the operation prompt of the ground station software.
In this embodiment of the present application, the expression of the calibration information of the fourth magnetic compass is:
A＝B+C；
wherein A represents the fourth magnetic compass calibration information, B represents the first magnetic compass calibration information, and C represents the magnetic compass relative calibration information.
Specifically, A, B and C represent specific magnetic compass calibration information, such as magnetic field strength vectors, etc., that may be selected as desired.
In the embodiment of the present application, the expression of the relative calibration information of the magnetic compass is:
C＝D-E；
wherein C represents the relative calibration information of the magnetic compass, D represents the third magnetic compass calibration information, and E represents the second magnetic compass calibration information.
Specifically, C, D and E represent specific magnetic compass calibration information, such as magnetic field strength vectors, etc., that may be selected as desired.
The application provides a method based on ground satellite station software calibration unmanned aerial vehicle magnetic compass calibrates the magnetic compass more portably, spends time still less.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The previous description is only an example of the present application, and is provided to enable any person skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software is characterized by comprising the following steps:
placing the unmanned aerial vehicle and the mobile terminal in a first magnetic field environment;
performing a first calibration on a magnetic compass on the drone using ground station software;
acquiring first magnetic compass calibration information of the unmanned aerial vehicle;
performing a second calibration of a magnetic compass on the mobile terminal using the ground station software;
acquiring second magnetic compass calibration information of the mobile terminal;
placing the drone and the mobile terminal in a second magnetic field environment;
performing third calibration on a magnetic compass on the mobile terminal by using the ground station software;
acquiring third magnetic compass calibration information of the mobile terminal;
calculating magnetic compass relative calibration information according to the second magnetic compass calibration information and the third magnetic compass calibration information;
and calculating fourth magnetic compass calibration information corresponding to the magnetic compass on the unmanned aerial vehicle in the second magnetic field environment according to the first magnetic compass calibration information and the magnetic compass relative calibration information.
2. The method for calibrating a magnetic compass of a drone, based on ground station software, according to claim 1, wherein said placing of the drone and the mobile terminal in a first magnetic field environment comprises the steps of:
selecting a mobile terminal configured with a magnetic compass;
connecting the unmanned aerial vehicle and the mobile terminal to form a combined body;
placing the combination in the first magnetic field environment.
3. The method for calibrating a magnetic compass of a drone based on ground station software according to claim 1, wherein said first calibration of a magnetic compass on said drone using ground station software comprises the steps of:
connecting the ground station software with the unmanned aerial vehicle;
the ground station software sends a calibration starting instruction to the unmanned aerial vehicle;
the ground station software displays preset calibration operation;
controlling the unmanned aerial vehicle to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the unmanned aerial vehicle;
and calculating the magnetic field interference vector corresponding to the unmanned aerial vehicle by the ground station software according to the motion trail.
4. The method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software according to claim 3, wherein said controlling said unmanned aerial vehicle to rotate by a preset angle according to said preset calibration operation comprises the steps of:
sequentially controlling six surfaces of the unmanned aerial vehicle to face downwards respectively;
rotating the drone 360 degrees in a horizontal direction about a fixed center point.
5. The method for calibrating a magnetic compass of a drone based on ground station software of claim 1, wherein said second calibration of the magnetic compass on the mobile terminal using said ground station software comprises the steps of:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
6. The method of claim 1, wherein said placing said drone and said mobile terminal in a second magnetic field environment comprises the steps of:
acquiring a combination formed by connecting the unmanned aerial vehicle and the mobile terminal;
placing the combination in the second magnetic field environment.
7. The method for calibrating a magnetic compass of a drone based on ground station software of claim 1, wherein said third calibration of the magnetic compass on the mobile terminal using said ground station software comprises the steps of:
connecting the ground station software with the mobile terminal;
the ground station software sends a calibration starting instruction to the mobile terminal;
the ground station software displays preset calibration operation;
controlling the mobile terminal to rotate by a preset angle according to the preset calibration operation;
the ground station software acquires the motion trail of the mobile terminal;
and calculating the magnetic field interference vector corresponding to the mobile terminal according to the motion trail and the ground station software.
8. The method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software according to claim 5 or 7, wherein said controlling said mobile terminal to rotate by a preset angle according to said preset calibration operation comprises the steps of:
sequentially controlling six surfaces of the mobile terminal to face downwards respectively;
the mobile terminal is rotated 360 degrees around a fixed center point in a horizontal direction.
9. The method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software according to claim 1, wherein the expression of the fourth magnetic compass calibration information is:
A＝B+C；
wherein A represents the fourth magnetic compass calibration information, B represents the first magnetic compass calibration information, and C represents the magnetic compass relative calibration information.
10. The method for calibrating a magnetic compass of an unmanned aerial vehicle based on ground station software according to claim 1 or 9, wherein the expression of the magnetic compass relative to the calibration information is:
C＝D-E；
wherein C represents the relative calibration information of the magnetic compass, D represents the third magnetic compass calibration information, and E represents the second magnetic compass calibration information.
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