解决无人机在室内磁干扰下的精准航向估计难题

Accurate and robust heading estimation is crucial for unmanned aerial vehicles (UAVs) when conducting indoor inspection tasks. However, the cluttered nature of indoor environments often introduces severe magnetic disturbances, which can significantly degrade heading accuracy. To address this challenge, this paper presents an Adaptive MARG-Only Heading (AMO-HEAD) estimation approach for UAVs operating in magnetically disturbed environments. AMO-HEAD is a lightweight and computationally efficient Extended Kalman Filter (EKF) framework that leverages inertial and magnetic sensors to achieve reliable heading estimation. In the proposed approach, gyroscope angular rate measurements are integrated to propagate the quaternion state, which is subsequently corrected using accelerometer and magnetometer data. The corrected quaternion is then used to compute the UAV's heading. An adaptive process noise covariance method is introduced to model and compensate for gyroscope measurement noise, bias drift, and discretization errors arising from the Euler method integration. To mitigate the effects of external magnetic disturbances, a scaling factor is applied based on real-time magnetic deviation detection. A theoretical observability analysis of the proposed AMO-HEAD is performed using the Lie derivative. Extensive experiments were conducted in real world indoor environments with customized UAV platforms. The results demonstrate the effectiveness of the proposed algorithm in providing precise heading estimation under magnetically disturbed conditions.