UAV navigation calibration method, non-transitory computer-readable storage medium and UAV implementing the same

A calibration method for navigation of an unmanned aerial vehicle (UAV), the UAV including a vector sensor for measuring headings and postures of the UAV, the calibration method comprising:

• collecting, during a flight of the UAV, reference data during two measurements of a reference vector performed by the vector sensor, wherein modulus of the reference vector is known,
• acquiring a zero-point offset of the vector sensor according to the reference data, wherein the zero-point offset is a vector difference between a theoretical zero-point position and a measurement zero-point position of the vector sensor;
• acquiring original data of any vector measured by the vector sensor based on the measurement zero-point position;
• acquiring valid data based on the theoretical zero-point position according to the zero-point offset and the original data, defining the valid data as a vector data acquired after a zero-point error of the original data, is eliminated;
• and
• controlling headings and postures of the UAV according to the valid data;
• wherein during the two measurements of the reference vector performed by the vector sensor, postures of the vector sensor are different, the reference data comprises a known reference vector value, an angular displacement vector from the posture of the vector sensor during a first measurement to the posture during a second measurement, first measurement data acquired by the vector sensor during the first measurement of the reference vector, and second measurement data acquired by the vector sensor during the second measurement of the reference vector;
• and
• wherein the acquiring the zero-point offset of the vector sensor according to the reference data comprises:
• acquiring the zero-point offset according to the reference vector value, the angular displacement vector, the first measurement data, and the second measurement data.