DESC:FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENT RULES, 2003

COMPLETE SPECIFICATION
(See Section 10 and Rule 13)

Title of Invention:
A MAGNETOMETER ASSEMBLY AND A METHOD FOR CHECKING DATA SANITY OF MAGNETOMETERS

APPLICANT:
AARAV UNMANNED SYSTEMS PRIVATE LIMITED
An Indian entity having address as:
#3, 80 Feet Main Road, MCHS Layout,
Jakkur, Bangalore – 560064

The following specification particularly describes the invention and the manner in which it is to be performed.

CROSS-REFERENCE TO RELATED APPLICATIONS AND PRIORITY
The present application does not claim priority from the Indian patent application, having application number 202241064844, filed on 12th Nov 2022, incorporated herein by a reference.
TECHNICAL FIELD
The present disclosure relates to a magnetometer assembly and a method for checking data sanity of magnetometers. More specifically, the present disclosure relates to assembly of magnetometers to avoid magnetic interference and a method to check the data sanity of the magnetometers.
BACKGROUND
The subject matter discussed in the background section should not be assumed to be prior art merely as a result of its mention in the background section. Similarly, a problem mentioned in the background section or associated with the subject matter of the background section should not be assumed to have been previously recognized in the prior art. The subject matter in the background section merely represents different approaches, which in and of themselves may also correspond to implementations of the claimed technology.
The UAV is an aerial vehicle with no pilot-to-man controls. The UAV can be remotely controlled by an operator on the ground or by pre-programmed flight plans. Today UAVs are utilized for various purposes. From delivery of goods, medicines to weapons. From surveillance to land surveying operations. Therefore, the UAVs are used for both military as well as civilian purposes.
In UAVs, magnetometers are used for measuring the strength and the direction of magnetic fields, including those on or near the Earth and in space. Further, magnetometers may be also used for calibrating electromagnets and permanent magnets and to determine the magnetization of materials. Thus, magnetometers are essential to navigate the UAV is right direction.
However, magnetometers are sensitive to any change in the magnetic field. This change or interference in magnetic field may occur due to sudden intrusion of any other magnetometer, motors and any other type of electric or electronic component. In this case the data sent by magnetometer may be wrong and may lead the UAV into wrong direction. This problem can further lead to wrong data gathering by the UAV which may affect the quality of the mission. Thus, maintaining the data sanity of magnetometers is crucial for the safety of the UAV.
In the early days magnetometers were calibrated manually so room for manual error was always there. Further, detection of faults in magnetometers and magnetic field interference was also hard, which was time consuming process and leading to wrong data gathering without notice.
Therefore, there exists a need to provide an assembly for reducing magnetic interference and a method checking data sanity of magnetometers for ensuring correct direction and safety of the UAV, to overcome the above-mentioned problems.
SUMMARY
The present disclosure overcomes one or more shortcomings of the prior art and provides additional advantages discussed throughout the present disclosure. Additional features and advantages are realized through the techniques of the present disclosure. Other embodiments and aspects of the disclosure are described in detail herein and are considered a part of the claimed disclosure.
In one implementation, a magnetometer assembly for checking data sanity of magnetometers is disclosed. In one embodiment, the magnetometer assembly may comprise an unmanned aerial vehicle (UAV), a plurality of magnetometers, a UAV memory, a plurality of magnetometer chambers, a motherboard, a spitter junction. The plurality of magnetometer may be configured for detecting the magnetic field data (MAG field data). Each magnetometer of the plurality of magnetometers may be configured secured inside the corresponding magnetometer chamber of the plurality of magnetometer chamber. The motherboard may comprise a plurality of electric components, a plurality of a magnetic component, a plurality of electronic components, a plurality of auxiliary component and a controller. The plurality of magnetometer may be placed at opposite sides of the motherboard and facing each other. The splitter junction may be configured to connect the plurality of magnetometer chambers to each other. The controller may be configured for starting an operation of the plurality of magnetometer. Further, the controller may be configured to store MAG field data received from the plurality of magnetometer in the UAV memory. Further, the controller may be configured to determine an offset value between the MAG field data of the plurality of magnetometer. Further, the controller may be configured to compare the offset value with a threshold value. The controller may be configured to determine the flight of the UAV based on a result of the comparison. The determination of the flight is any one of allowing the flight or preventing the flight. If the offset value is less than the threshold value, then the controller may allow the flight of the UAV. If the offset value is more than the threshold value, then the controller may prevent the flight of the UAV.
In another implementation, a method for checking data sanity of magnetometers is disclosed. The method may include a step for starting, via a controller, an operating of the plurality of magnetometer. The method may further include a step for detecting, via a plurality of magnetometer, the magnetic field data (MAG field data). The method may further include a step for storing, via the controller, the MAG field data in a UAV memory. The method may further include a step for determining, via the controller, an offset value between the MAG field data of the plurality of magnetometers. The method may further include a step for comparing, via the controller, the offset value with a threshold value. The method may further include a step for determining, via the controller, the flight of the UAV based on a result of the comparison. The determining the flight may be any one of allowing the flight or preventing the flight. If the offset value is less than the threshold value, then the controller may allow the flight of the UAV. If the offset value is more than the threshold value, then the controller may prevent the flight of the UAV.
BRIEF DESCRIPTION OF DRAWINGS
The detailed description is described with reference to the accompanying figures. In the Figures, the left-most digit(s) of a reference number identifies the Figure in which the reference number first appears. The same numbers are used throughout the drawings to refer like features and components.
Figures 1A-1B illustrate the components of a magnetometer assembly (100) for checking data sanity of magnetometers, in accordance with an embodiment of the present disclosure.
Figure 2 illustrates a flowchart of a method for checking data sanity of magnetometers, in accordance with the embodiment of the present disclosure.
DETAILED DESCRIPTION
The terms “comprise”, “comprising”, “include(s)”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, system or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or system or method. In other words, one or more elements in a system or apparatus preceded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or apparatus.
Reference throughout the specification to “various embodiments,” “some embodiments,” “one embodiment,” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases “in various embodiments,” “in some embodiments,” “in one embodiment,” or “in an embodiment” in places throughout the specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In one embodiment, a magnetometer assembly for checking data sanity of magnetometers of an unmanned aerial vehicle (UAV) is disclosed.
Referring to Fig. 1A-1B, components of the magnetometer assembly (100) for checking data sanity of magnetometers is illustrated in accordance with the one embodiment of the present disclosure. The magnetometer assembly (100) may comprise a plurality of magnetometer chambers (101), a plurality of magnetometers (102), a motherboard (103), a splitter junction. In one exemplary embodiment, the plurality of magnetometers (102) may comprise two magnetometers.
Referring to Figure. 1A-1B, the plurality of magnetometers (102) may be secured inside a the plurality of magnetometer chambers (101). The magnetometer assembly (100) may comprise at least two magnetometer chambers. The plurality of magnetometer chambers (101) may be used to isolate the magnetometer from the rest of the electric, magnetic, electronic components of the UAV. Further, the magnetometer assembly (100) may comprise the motherboard. The motherboard may function as a mounting board or substrate for all the electronic components used in the UAV. Further, each magnetometer chamber of the plurality of magnetometer chambers (101) may be fixed at different sides and ends of the motherboard (103). Further, the plurality of magnetometer (102) may communicate with the motherboard (103) using a communication protocol. In one embodiment, the communication protocol may be selected from a group of communication protocols including, but not limited to, a campus area network (CAN), ethernet, Local Interconnect Network (LIN). Further, the distance between each magnetometer may be such that the magnetic field of each magnetometer may be free and does not create interference with the magnetic field of the other magnetometer. Further, the plurality of magnetometers (102) may be oriented in such a way that the magnetic field generated by electric components such as UAV motors, electronic components, speed controllers may not interfere with the magnetic field generated by the magnetometers.
In one embodiment, the plurality of magnetometers (102) may be assembled in same orientation and therefore the magnetic field sensed by the two sensors may be same. Further, the magnetic field strength may be sensed in micro tesla or Gauss.
In another embodiment, the magnetometer assembly (100) may comprise the controller mounted on the motherboard (103). The controller may be configured to control the flight and operation of the plurality of magnetometers (102). Further, the magnetometer assembly (100) may comprise other essential or a plurality of auxiliary components such as a voltage regulator, connecting wires, a printed circuit board (PCB), a holding assembly, electric, electronic, magnetic components, speed controllers. Further, the magnetometer assembly (100) may comprise the splitter junction. The splitter junction may be configured to connect multiple inputs and outputs at a single point, which further reduces the complexity of the wiring of all the components in the UAV assembly.
In another embodiment, the plurality of magnetometers (100) may be arranged on the opposite sides of the motherboard and facing each other. Further, the plurality of magnetometer chambers (101) may be connected to each other through the splitter junction. The distance between two magnetometers may be such that the magnetic fields generated by each magnetometer may be free from interference with the magnetic field of other magnetometer.
In another embodiment, the plurality of magnetometers (102) may be arranged on adjustable platforms or arms. The length of these arms or platforms may be adjusted to move the magnetometer form the magnetic field of the other magnetometer or electric components.
In yet another embodiment, the plurality of magnetometer chambers (101) may be of different heights or assembled at different heights to avoid magnetic interference of each other.
Referring to Figure. 2, a method (200) for checking data sanity of magnetometers is disclosed.
The UAV may be initialized. At step 201, the controller may be configured to start the operation of the plurality of magnetometers (102).
At step 202, the plurality of magnetometers (102) may be configured to detect the magnetic field data (MAG field data).
At step 203, the controller may be configured to store the MAG field data in a UAV memory.
At step 204, the controller may be configured to determine an offset value between the MAG field data of the plurality of magnetometers (102).
At step 205, the controller may be configured to compare the offset value with a threshold value.
At step 206, the controller may be configured to determine the flight of the UAV based on the result of the comparison.
If the offset value may be less than a threshold value, then the controller may allow the flight to continue. If the offset may be more than the threshold value then the controller may prevent the flight of the UAV. Further, the controller may send a request to a Ground Control Station (GCS) and the operator to recalibrate the plurality of magnetometers.
In one embodiment, the UAV may comprise a calibration module. The calibration module may automatically recalibrate the plurality of magnetometers when the recalibration request may be generated.
In another embodiment if the offset exceeds the threshold value during the flight, then the controller alerts the GCS and the operator and may return to a home location or any other safe location.
The presently disclosed magnetometer assembly and the method of checking data sanity of magnetometers may have the following advantageous functionalities on the conventional art:
? The life of all the electric and the magnetic components is increased.
? Nullifying the magnetic interference improves the data sanity.
? The problem of loss of UAV because of misguiding due to wrong magnetometer reading is eliminated.
Various modifications to the embodiment will be readily apparent to those skilled in the art and the generic principles herein may be applied to other embodiments. However, one of ordinary skill in the art will readily recognize that the present disclosure is not intended to be limited to the embodiments illustrated but is to be accorded the widest scope consistent with the principles and features described herein.
The foregoing description shall be interpreted as illustrative and not in any limiting sense. A person of ordinary skill in the art would understand that certain modifications could come within the scope of this disclosure.
The embodiments, examples and alternatives of the preceding paragraphs or the description and drawings, including any of their various aspects or respective individual features, may be taken independently or in any combination. Features described in connection with one embodiment are applicable to all embodiments unless such features are incompatible.
,CLAIMS:WE CLAIM:
1. A magnetometer assembly (100) for checking data sanity of magnetometer, wherein the magnetometer assembly (100) comprising:
a plurality of magnetometers (102) of an unmanned aerial vehicle (UAV) is configured for detecting the magnetic field data (MAG field data);
a UAV memory;
a plurality of magnetometer chambers (101), wherein each magnetometer of the plurality of magnetometers (102) is secured inside the corresponding magnetometer chamber of the plurality of magnetometer chambers (101);
a motherboard (103), comprising a plurality of electric components, a plurality of magnetic components, a plurality of electronic components, a plurality of auxiliary components and a controller, wherein the plurality of magnetometer is placed at opposite sides of the motherboard and facing each other;
a splitter junction configured to connect the plurality of magnetometer chambers to each other; and
wherein the controller is configured for:
starting an operation of the plurality of magnetometers;
storing the MAG field data received from the plurality of magnetometer in the UAV memory;
determining an offset value between the MAG field data of the plurality of magnetometer;
comparing the offset value with a threshold value;
determining the flight of the UAV based on a result of the comparison.

2. The magnetometer assembly (100) as claimed in claim 1, wherein the plurality of magnetometers (102) is communicatively coupled with the motherboard using a communication protocol.

3. The magnetometer assembly (100) as claimed in claim 1, wherein the plurality of magnetometers (102) is placed at a distance in order to avoid an interference between the magnetic field generated by the plurality of magnetometer.

4. The magnetometers assembly (100) as claimed in claim 3, wherein the placement of the plurality of magnetometers (102) is configured to avoid interference of the magnetic field generated by electric components including UAV motors, electronic components, speed controller with the magnetic field generated by the plurality of magnetometer.

5. The magnetometer assembly (100) as claimed in claim 1, wherein the splitter junction is configured to connect multiple inputs and outputs of the plurality of magnetometer at a single point.

6. The magnetometer assembly (100) as claimed in claim 1, wherein the plurality of electric components, the plurality of magnetic components, the plurality of electronic components, the plurality of auxiliary components and the controller are isolated from the plurality of magnetometer chambers (101).

7. The magnetometer assembly (100) as claimed in claim 1, wherein the plurality of auxiliary components including printed circuit board (PCB), voltage regulator, connecting wires, holding assembly, electric, electronic, magnetic components, speed controllers.

8. The magnetometer assembly (100) as claimed in claim 1, wherein the determination of the flight is any one of allowing the flight or preventing the flight.

9. The magnetometer assembly (100) as claimed in claim 1 and 8, wherein if the offset value is less than the threshold value, then the controller is configured for allowing the flight of the UAV; and if the offset value is more than the threshold value, then the controller is configured for preventing the flight of the UAV.

10. The magnetometer assembly (100) as claimed in claim 1, wherein the controller is configured for sending a request to a ground control station (GCS) for recalibrating the plurality of magnetometers (102) of the magnetometer assembly (101).
11. A method (200) for checking data sanity of magnetometers comprising:
starting, via a controller, an operation of the plurality of magnetometer in an unmanned aerial vehicle (UAV);
detecting, via a plurality of magnetometer, the magnetic field data (MAG field data);
storing, via the controller, the MAG field in a UAV memory;
determining, via the controller, an offset value between the MAG field data of the plurality of magnetometers;
comparing, via the controller, the offset value with a threshold value; and
determining, via the controller, the flight of the UAV based on a result of the comparison.
12. The method as claimed in claim 11, wherein the determining the flight is any one of allowing the flight or preventing the flight.

13. The method as claimed in claim 11 and 12, wherein if the offset value is less than the threshold value, then allowing the flight of the UAV; and if the offset value is more than the threshold value, then preventing the flight of the UAV.

14. The method as claimed in claim 11, comprises sending a request by the controller to a ground control station (GCS) and an operator to recalibrate the magnetometers.

Dated this 12 Day of November 2022

Priyank Gupta
Agent for the Applicant
IN/PA-1454