Method and apparatus for correcting yaw angle of aircraft, and aircraft

An apparatus for correcting a yaw angle of an aircraft, applicable to an aircraft, comprising:

• at least one processor;
• and
• a memory, communicatively connected to the at least one processor, wherein
• the memory stores instructions executable by the at least one processor, the instructions, when executed by the at least one processor, cause the at least one processor to perform the following:
• acquiring inertial measurement unit (IMU) data and magnetometer data, wherein the IMU data comprises IMU acceleration information and IMU angular velocity information;
• determining a magnetometer yaw angle according to the magnetometer data;
• determining an initial value of a yaw angle according to the magnetometer yaw angle;
• determining an angular velocity compensation quantity of the yaw angle according to the magnetometer data;
• determining a corrected angular velocity according to the IMU angular velocity information and the angular velocity compensation quantity of the yaw angle;
• and
• determining a relative value of the yaw angle according to the corrected angular velocity;
• and
• a fused yaw angle generation module, configured to generate a fused yaw angle according to the initial value of the yaw angle and the relative value of the yaw angle.

An aircraft, comprising:

• a fuselage;
• an arm, connected to the fuselage;
• a power apparatus, disposed on the fuselage and/or the arm and configured to provide flight power for the aircraft;
• and
• a flight controller, disposed on the fuselage and
• comprising:
• at least one processor, and
• a memory, communicatively connected to the at least one processor, wherein
• the memory stores instructions executable by the at least one processor, the instructions, when executed by the at least one processor, cause the at least one processor to perform the following:
• acquiring inertial measurement unit (IMU) data and magnetometer data, wherein the IMU data comprises IMU acceleration information and IMU angular velocity information;
• determining a magnetometer yaw angle according to the magnetometer data;
• determining an initial value of a yaw angle according to the magnetometer yaw angle;
• determining an angular velocity compensation quantity of the yaw angle according to the magnetometer data;
• determining a corrected angular velocity according to the IMU angular velocity information and the angular velocity compensation quantity of the yaw angle;
• determining a relative value of the yaw angle according to the corrected angular velocity;
• and
• generating a fused yaw angle according to the initial value of the yaw angle and the relative value of the yaw angle.