This application discloses a vector sensor zero-point calibration method, device, and, apparatus, an electronic device, and a non-volatile computer-readable storage medium. The calibration method includes: acquiring reference data during two measurements of a reference vector performed by a vector sensor; acquiring a zero-point offset M.sub.0 of the vector sensor according to the reference data; acquiring original data R.sub.k of any vector measured by the vector sensor; and acquiring valid data V.sub.k according to the zero-point offset M.sub.0 and the original data R.sub.k. With the calibration method in this application, the valid data V.sub.k is obtained after a zero-point error of the original data R.sub.k is eliminated, which is more closely approximated to an actual value of a to-be-measured vector.

This application discloses a calibration method for navigation of an unmanned aerial vehicle (UAV), a non-transitory computer-readable storage medium and a UAV implementing the same. The calibration method includes: collecting, during a flight of the UAV, reference data during two measurements of a reference vector performed by a vector sensor; acquiring a zero-point offset M.sub.0 of the vector sensor according to the reference data; acquiring original data R.sub.k of any vector measured by the vector sensor; acquiring valid data V.sub.k according to the zero-point offset M.sub.0 and the original data R.sub.k; and control headings and postures of the UAV according to the valid data V.sub.k. With the calibration method in this application, the valid data V.sub.k is defined as a vector data acquired after a zero-point error of the original data R.sub.k is eliminated, which is more closely approximated to an actual value of a to-be-measured vector.

An electronic device includes sensors, a display, and a processor electrically connected to the sensors and the display, in which the electronic device is in a first running mode for permanently providing compass information or a second running mode for providing the compass information, in response to a request from a user. When set to be in the first running mode, the processor a performance mode of a digital compass to be a first performance mode, determines first performance mode-based compass information using the sensors, and displays the determined first performance mode-based compass information on the display. When set to be in the second running mode, the processor sets the performance mode of the digital compass to be a second performance mode, determines second performance mode-based compass information using the sensors at the request from the user, and displays the determined second performance mode-based compass information on the display.

An electronic device includes sensors, a display, and a processor electrically connected to the sensors and the display, in which the electronic device is in a first running mode for permanently providing compass information or a second running mode for providing the compass information, in response to a request from a user. When set to be in the first running mode, the processor a performance mode of a digital compass to be a first performance mode, determines first performance mode-based compass information using the sensors, and displays the determined first performance mode-based compass information on the display. When set to be in the second running mode, the processor sets the performance mode of the digital compass to be a second performance mode, determines second performance mode-based compass information using the sensors at the request from the user, and displays the determined second performance mode-based compass information on the display.

A digital compass with two or more multi-axis magnetometers and a processing element to determine a heading and detect any offset error in the heading is described. One electronic device includes first and second magnetometers. The second magnetometer can be disposed at least a specified distance or co-located and offset at least a specified angle from the first magnetometer. A processing device determines a magnetic field at the electronic device using a first output from the first magnetometer, detects an offset error in the magnetic field using a second output from the second magnetometer, and reports the offset error in the magnetic field.

A digital compass with two or more multi-axis magnetometers and a processing element to determine a heading and detect any offset error in the heading is described. One electronic device includes first and second magnetometers. The second magnetometer can be disposed at least a specified distance or co-located and offset at least a specified angle from the first magnetometer. A processing device determines a magnetic field at the electronic device using a first output from the first magnetometer, detects an offset error in the magnetic field using a second output from the second magnetometer, and reports the offset error in the magnetic field.

For triaxial magnetic detection data sequentially acquired as data points in a triaxial coordinate system, an offset calculation unit 30 calculates virtual data points P1′-P6′ by evenly parallel-translating each of data points P1-P7 so that a reference data point P7, for example, arbitrarily chosen from the data points P1-P7 coincides with an origin point O. A virtual offset point C′ for which the sum of the distances between the virtual data points P1′-P6′ and a curved surface H1 passing through the origin point O is minimized is then calculated. An offset value C for the magnetic detection data is then calculated by parallel-translating the virtual offset point C′ so as to restore the parallel-translated portion.

A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

A precision calibration method of attitude measuring systems is provided. The precision calibration method of attitude measuring systems includes the following steps: calibrating a zero-deviation, a scale coefficient, and a non-orthogonal angle between axes of an accelerometer to the attitude measuring system via an ellipsoid fitting model (S1); compensating original data of the accelerometer using a calculated ellipsoid parameter (S2); calibrating an electronic compass via the ellipsoid fitting model according to compensated accelerometer data (S3); compensating original electronic compass data by the calculated ellipsoid parameter (S4); calculating an attitude according to the compensated data of the accelerometer and compensated data of the electronic compass (S5). The above steps of the method have a reliable calibration result and a high precision with a less time consumption of calibration.

Systems and methods for determining azimuth of a wellbore while drilling. A method of drilling a wellbore that includes rotating a drill bit to extend the wellbore into a subterranean formation. The method may further include measuring magnetic toolface with a first magnetometer while rotating the drill bit. The method may further include obtaining a cross-axial magnetic field measurement. The method may further include determining azimuth at a point in the wellbore using at least the magnetic toolface and the cross-axial magnetic field measurement. The method may further include using the azimuth as feedback in the drilling the wellbore.