基于DGPS航迹偏差的多旋翼无人机磁干扰检测技术研究

为了解决多旋翼无人机在飞行作业过程中受到环境磁干扰导致作业异常的问题，在使用DGPS进行差分定位的基础上，提出了一种基于航迹偏差的多旋翼无人机磁干扰检测技术。其基本原理是，当多旋翼无人机受到磁场干扰时，其飞行航迹会偏离预设航线，检测其航迹的偏离距离，通过与阈值比较，可以用来判断是否存在环境磁干扰。实验结果表明该方法可以有效检测环境磁场异常，在某些情况下比传统的磁航向角误差阈值检测方法可靠性更高，虚警率更小。综合使用航迹偏差检测方法和磁航向角误差检测方法，可有效（提高）环境磁场异常检测的准确度，降低虚警率。

Research on Magnetic Interference Detection of Multi-rotor UAV Based on DGPS Flight Path Deviation

In order to solve the problem that the multi - rotor unmanned aerial vehicle (UAV) is caused by environmental magnetic interference in the course of flight operation, a magnetic interference detection technology of multi - rotor unmanned aerial vehicle based on flight path deviation and differential positioning using DGPS is proposed. The basic principle is that when the multi-rotor UAV by the magnetic field interference, the flight path will deviate from the preset path, to detect the deviation of its track distance, compared with the threshold can be used to determine whether there is environmental interference. The experimental results show that this method can effectively detect the anomaly of environmental magnetic field, and in some cases, it is more reliable and less false than the traditional magnetic heading angle error detection method. The combination of flight path deviation detection method and magnetic heading angle error detection method can effectively improve the accuracy of environmental magnetic field anomaly detection and reduce false alarm rate.