CN102927984A - Method of eliminating influence of carrier magnetizing field on geomagnetic measurement - Google Patents
Method of eliminating influence of carrier magnetizing field on geomagnetic measurement Download PDFInfo
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- CN102927984A CN102927984A CN2012104148189A CN201210414818A CN102927984A CN 102927984 A CN102927984 A CN 102927984A CN 2012104148189 A CN2012104148189 A CN 2012104148189A CN 201210414818 A CN201210414818 A CN 201210414818A CN 102927984 A CN102927984 A CN 102927984A
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- 238000005259 measurement Methods 0.000 title claims abstract description 17
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- 238000003491 array Methods 0.000 claims abstract description 8
- 230000008030 elimination Effects 0.000 claims description 8
- 238000003379 elimination reaction Methods 0.000 claims description 8
- 239000000696 magnetic material Substances 0.000 claims description 5
- 230000005294 ferromagnetic effect Effects 0.000 claims description 3
- 230000005358 geomagnetic field Effects 0.000 abstract description 5
- 230000005347 demagnetization Effects 0.000 abstract description 3
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- 238000013461 design Methods 0.000 description 3
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- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention provides a method of eliminating influence of a carrier magnetizing field on geomagnetic measurement. The method is characterized in that two magnetic sensor linear arrays are carried on a carrier, a non-magnetic anomaly point A with a mild magnetic field change is selected within the scope of a space to be measured, a geomagnetic total field of the point A is measured under the carrier-free condition by utilizing an independent magnetic sensor, the carrier carried with the two magnetic sensor linear arrays is placed on the point A, a geometric center of the linear array is taken as an axis, the carrier is slowly rotated at a constant speed for one circle, a geomagnetic field value and the corresponding rotating angle are respectively continuously measured by the two magnetic sensors, the corresponding function curve of a difference and an angle is made, the geomagnetic total field on the point is subtracted by the magnetic field value of the linear array magnetic sensor, and the actual measurement geomagnetic field in the whole space to be measured is used for compensating the influence of the carrier magnetizing magnetic field. According to the invention, the linear array is formed by the two magnetic sensors, and a demagnetization method and a demagnetization algorithm of the rotating linear array are provided for complicated influence of the carrier on the magnetic measurement, so that the influence of the carrier on geomagnetic measurement is completed eliminated.
Description
Technical field
What invention related to is the compensation method that the ferromagnetism carrier affected magnetic survey during a kind of magnetic survey and earth-magnetic navigation were used.
Background technology
The terrestrial magnetic field is the basic physical field of earth system, it is the intrinsic resource of the earth, characteristics with round-the-clock, round-the-clock, full region, for navigation provides natural coordinate system, that the earth-magnetic navigation technology has is easy, efficient, dependable performance, strong interference immunity, belong to passive independent navigation, especially under water, earth-magnetic navigation has broad prospect of application.Additionally there is important application prospect in magnetic field in fields such as geological disaster forecasting, the exploration of energy mineral reserve, the addressing of grand strategy target, the monitorings of continental platform, ocean.Realize various earth magnetism application, at first will set up accurately magnetic chart.And the ferromagnetic material that carrier comprises and electrical equipment etc. all can produce disturb the terrestrial magnetic field, only have these disturbing effects of elimination after, just might obtain accurate terrestrial magnetic field value, and then could draw high-precision magnetic map.
To realize high-efficiency high-accuracy magnetic survey or earth-magnetic navigation in the large scale scope, must depend on the carriers such as satellite, aircraft, vehicle, boats and ships even submarine navigation device.And carrier generally all contains ferromagnetic material, and the generation magnetic moment that unavoidably is magnetized under geomagnetic field action forms one to extraradial magnetic source.Be fixed on like this magnetic field value that the magnetometer on the carrier records and just comprised magnetizing field, affected the accuracy of measurement data.Owing to the variation of magnetizing field along with the position of carrier and navigation direction changes, therefore revise difficulty very large.Except magnetizing field, carrier produces interference field to be also had: intrinsic magnetic field, low-frequency ac magnetic field etc.The intrinsic magnetic field source: the permanent magnetic material on the carrier produces the stationary magnetic field, and the AC magnetic field source: the power propulsive mechanisms such as the engine of being responsible for advancing, screw propeller are to external radiation low-frequency ac magnetic field.The expression formula of the magnetic field value that records by the magnetometer that is equipped on the carrier like this is:
T
Survey=T
0+ D+ ∑ ε
i+ ∑ μ
j(1)
Wherein, T
SurveyIt is the magnetometer measured value; T
0It is the terrestrial magnetic field true value; D is the magnetizing field of carrier; ε
iVarious low-frequency acs magnetic field; μ
jIt is each intrinsic magnetic field
The elimination in low-frequency ac magnetic field: the terrestrial magnetic field belongs to D.C. magnetic field substantially, thereby low-frequency ac magnetic field can filter it by the wave filter of targeted design.Intrinsic magnetic field is eliminated: intrinsic magnetic field has the characteristics of constant inconvenience, can compensate the elimination intrinsic magnetic field by the calibration Comparison Method, and perhaps pointwise loads reverse intrinsic magnetic source and directly offsets intrinsic magnetic field.By said method, with ∑ ε
i+ ∑ μ
jAfter the compensation filtering, expression formula (1) is reduced to:
T
Survey=T
0+ D (2)
As long as can determine magnetizing field D, pass through T
0=T
Survey-D just can obtain terrestrial magnetic field value T
0, and therefore the variation of the size variation of magnetizing field terrestrial magnetic field when navigating by water along with carrier and navigation direction and changing is difficult for revising.This is meaning of the present invention just also.The objective of the invention is to determine carrier magnetizing field D changes in distribution rule, provide the concrete grammar of eliminating D, reducing carrier affects magnetic survey, and geomagnetic field measuring is realized on final high-accuracy high-efficiency rate ground.
Summary of the invention
The object of the present invention is to provide a kind of method that the elimination carrier magnetizing field that carrier is thoroughly eliminated the impact of magnetic survey can be affected magnetic survey.
The object of the present invention is achieved like this:
(1), in spatial dimension to be measured, select the mild non-magnetic anomaly point A of changes of magnetic field, in the carrier-free situation with the geomagnetic total field T of independent Magnetic Sensor measurement point A
0
(2), carrier carries two Magnetic Sensors and forms linear arrays, and the carrier that carries two Magnetic Sensor linear arrays is placed an A, take the linear array geometric center as axle, carrier horizontal rotary slowly and at the uniform velocity circled, two Magnetic Sensors continuous coverages terrestrial magnetic field value T respectively in the rotary course
1(θ), T
2(θ) with corresponding rotation angle θ;
(3), the measured terrestrial magnetic field of two Magnetic Sensors value T
1(θ), T
2(θ) corresponding one by one with anglec of rotation θ respectively, make Δ T (θ)=T
1(θ)-T
2(θ), make the respective function curve of difference DELTA T (θ) and θ;
(4), the magnetic field value T of linear array Magnetic Sensor
1(θ), T
2(θ) deduct an A geomagnetic total field T
0, obtain difference
D
1(θ), D
2(θ) also be the function of angle θ;
(5), simultaneous Δ T (θ), D
1(θ), obtain the Parameter Relation about θ, eliminate θ, obtain D
1Be the piecewise function D of independent variable about Δ T
1(Δ T);
(6), actual measurement terrestrial magnetic field T=T in the whole space to be measured
1(θ)-D
1(Δ T) is used for the impact of compensation carrier magnetizing field, T
1With Δ T all be the real-time measurement values of sensor linear array, described posteriority compensation or the real-Time Compensation of being compensated for as.
The present invention can also comprise:
1, two of the position at two sensor places groups of magnetic survey ordered series of numbers D
1(θ), D
2(θ) respectively with the linear dependence of Δ T (θ) ordered series of numbers.
2, sensor and carrier distance are 1.5 times of ferromagnetic structure physical dimension in the carrier.
3, hang the weight of non-magnetic material in the vertical lower at linear array center.
What the present invention relates to is the compensation method that the ferromagnetism carrier affected magnetic survey during magnetic survey and earth-magnetic navigation were used, specifically in magnetic survey and earth-magnetic navigation application, adopt the inventive method can compensate the magnetizing field that the ferromagnetism carrier produces, finish efficiently and accurately magnetic survey work.Compensating intrinsic magnetic field, filtered the interference of AC magnetic field after, eliminate carrier magnetizing field D with method of the present invention.
The present invention utilizes two Magnetic Sensors to form linear array, the complex effects of magnetic survey is proposed demagnetization method and the algorithm of rotation linear array for carrier, and carrier is thoroughly eliminated the impact of magnetic survey.
Method of the present invention forms multi-thread battle array combination for 3 and applicable equally with the array of upper sensor formation, processes by the mean value computation equal error and improves magnet measuring precision.Method of the present invention can be applied to compensate ground carrier, aerial carrier and underwater carrier to the impact of geomagnetic field measuring.Be specially adapted in the application of carrier earth-magnetic navigation.
Description of drawings
Fig. 1 sensor linear array is the layout scheme figure in the robot under water.
Fig. 2 T
1(θ), T
2(θ) with the curve of θ.
The curve of Fig. 3 difference DELTA T (θ) and θ.
Fig. 4 difference D
1(θ) with the curve of θ.
Fig. 5 D
1The curve of (Δ T) and Δ T.
Embodiment
Compensated intrinsic magnetic field, filtered the interference of AC magnetic field after, in order to eliminate carrier magnetizing field D, content of the present invention and implementation process are as follows:
1, in spatial dimension to be measured, choose at random the mild non-magnetic anomaly point A of changes of magnetic field, in the carrier-free situation with the geomagnetic total field T of independent Magnetic Sensor measurement point A
0
2, carrier carries two Magnetic Sensors composition linear arrays, the carrier that carries two Magnetic Sensor linear arrays is placed this point, take the linear array geometric center as axle, make carrier horizontal rotary slowly and at the uniform velocity circle, be worth T in the continuous coverage terrestrial magnetic field respectively with the two Magnetic Sensors that carry in the rotary course
1(θ), T
2(θ) with corresponding rotation angle θ.
3, the measured terrestrial magnetic field of dual sensor value T
1(θ), T
2(θ) corresponding one by one with anglec of rotation θ respectively, order
ΔT(θ)＝T
1(θ)-T
2(θ) （3）
Make the respective function curve of difference DELTA T (θ) and θ.
4, the magnetic survey value T of linear array Magnetic Sensor
1(θ), T
2(θ) deduct A point geomagnetic total field T
0, obtain difference
D
1(θ), D
2(θ) also be the function of angle θ.
5, simultaneous Δ T (θ), D
1(θ), obtain the Parameter Relation about θ, eliminate θ, obtain D
1Be the piecewise function D of independent variable about Δ T
1(Δ T), D in spatial dimension to be measured
1(Δ T) function is general only to need once rotation to obtain.
6, actual measurement terrestrial magnetic field in the whole space to be measured
T＝T
1(θ)-D
1(ΔT) （5）
Can compensate the impact of carrier magnetizing field according to (5) formula.Because T
1With Δ T all be the real-time measurement values of sensor linear array, thereby this algorithm not only can posteriority compensation, also can real-Time Compensation.
7, the present invention comprises that also sensor need to satisfy condition in the carrier laying:
1. in the process that linear array horizontally rotates, two groups of magnetic survey ordered series of numbers D of the position at two sensor places
1(θ), D
2(θ) respectively with the linear dependence of Δ T (θ) ordered series of numbers.
2. sensor and carrier distance are about 1.5 times of ferromagnetic structure physical dimension in the carrier, although sensor will greatly reduce carrier to the impact of magnetic survey away from carrier, but distance is crossed senior general and is caused the inconvenience of carrier when navigating by water, evade and turning, the sensing head shake is waved in the time of also may causing navigation, gives and measures additional more impacts.
If 3. carrier is carrier in the miniature water, need fixed rotating shaft during the rotation of coiling battle array geometric center, hang the weight of non-magnetic material in the vertical lower at linear array center, prevent that carrier departs from rotating shaft in rotary course.
For example the present invention is described in more detail below in conjunction with accompanying drawing:
Use the underwater robot ROV with umbilical cord to carry out experiment enforcement of the present invention, the long 1.8m of robot, wide 0.6m, high 1.2m, the latent dark 300m of design, maximum speed 5 joints.Substantially adopt without magnetic aluminium chassis structure, dynamo-electric cabin adopts magnetism-free stainless steel material, buoyancy material to select the glass microballoon structure, has carried the pedestal sensors such as high precision magnetic sensor-based system, high-precision GPS, hydrolocator, compass, sonar, velograph, depthometer, thermometer.The magnetic sensor-based system has selected the CS-L caesium optically pumped magnetometer of 3 SCINTREX companies and the MMS-4 magnetometer operator's console of PICO to consist of the high-resolution geomagnetic survey system, the magnetic survey scope 2000--100000nT of this system, resolution 0.6pT, magnetic field frequency acquisition 10Hz, the MMS-4 output terminal has installed filtering system additional, eliminates robot self AC magnetic field to the impact of magnetic survey.According to claim 3, calculating, magnetometer sensing head are laid in and surpass 2 meters position apart from the ROV geometric center, one in the place ahead, about each one consists of magnetic survey linear array, highly be positioned at the robot top, the measurement data of any two sensors satisfies D
1(θ), D
2(θ) respectively with the linear dependence of Δ T (θ) ordered series of numbers.Magnetometer watertight compartment system adopts without the magnetic aluminium pot, and 10 atmospheric pressure of pressure are born in design.Such as Fig. 1.
In the experiment waters, choose the mild regional A of changes of magnetic field, measure A point position coordinates and magnetic field value T with GPS and proton magnetometer
0, lash ship and robot will be away from the A points during measurement.
Controlling underwater robot at lash ship navigates by water to the A point, robot at the uniform velocity rotates a circle take the linear array geometric center as axle at the A point, electric power and all data communication devices are crossed the umbilical cable transmission, automatically record various sensing datas at the lash ship computing machine, frequency acquisition 10Hz, all image data are unified with the high precision markers.Three magnetometers provide T
1(θ), T
2(θ), T
3(θ) data, magnetic compass record θ value.Make T
1(θ), T
2(θ) with the curve of θ as shown in Figure 2.According to (3) formula, calculate Δ T (θ), make the curve of difference DELTA T (θ) and θ as shown in Figure 3, according to (4) formula, calculate D
1(θ), D
2(θ) make difference D
1(θ) with the curve of θ as shown in Figure 4, simultaneous Δ T (θ), D
1(θ), obtain the Parameter Relation about θ, eliminate θ, obtain D
1Be the piecewise function D of independent variable about Δ T
1(Δ T) curve, as shown in Figure 5.
The magnetic survey regional network is formatted, and underwater robot scans navigation according to set snakelike route to grid, about two magnetometers export in real time T
1With Δ T, compass output course angle θ compensates each point terrestrial magnetic field T=T in the whole space to be measured according to (5) formula and Fig. 5
1(θ)-D
1(Δ T).Eliminate underwater robot to the impact of terrestrial magnetic field.
Claims (5)
1. eliminate the carrier magnetizing field to the method for magnetic survey impact for one kind, it is characterized in that:
(1), in spatial dimension to be measured, select the mild non-magnetic anomaly point A of changes of magnetic field, in the carrier-free situation with the geomagnetic total field T of independent Magnetic Sensor measurement point A
0
(2), carrier carries two Magnetic Sensors and forms linear arrays, and the carrier that carries two Magnetic Sensor linear arrays is placed an A, take the linear array geometric center as axle, carrier horizontal rotary slowly and at the uniform velocity circled, two Magnetic Sensors continuous coverages terrestrial magnetic field value T respectively in the rotary course
1(θ), T
2(θ) with corresponding rotation angle θ;
(3), the measured terrestrial magnetic field of two Magnetic Sensors value T
1(θ), T
2(θ) corresponding one by one with anglec of rotation θ respectively, make Δ T (θ)=T
1(θ)-T
2(θ), make the respective function curve of difference DELTA T (θ) and θ;
(4), the magnetic field value T of linear array Magnetic Sensor
1(θ), T
2(θ) deduct an A geomagnetic total field T
0, obtain difference
D
1(θ), D
2(θ) also be the function of angle θ;
(5), simultaneous Δ T (θ), D
1(θ), obtain the Parameter Relation about θ, eliminate θ, obtain D
1Be the piecewise function D of independent variable about Δ T
1(Δ T);
(6), actual measurement terrestrial magnetic field T=T in the whole space to be measured
1(θ)-D
1(Δ T) is used for the impact of compensation carrier magnetizing field, T
1With Δ T all be the real-time measurement values of sensor linear array, described posteriority compensation or the real-Time Compensation of being compensated for as.
2. elimination carrier magnetizing field according to claim 1 is characterized in that: two groups of magnetic survey ordered series of numbers D of the position at two sensor places the method for magnetic survey impact
1(θ), D
2(θ) respectively with the linear dependence of Δ T (θ) ordered series of numbers.
3. elimination carrier magnetizing field according to claim 1 and 2 is characterized in that the method for magnetic survey impact: sensor and carrier distance are 1.5 times of ferromagnetic structure physical dimension in the carrier.
4. elimination carrier magnetizing field according to claim 1 and 2 is characterized in that the method for magnetic survey impact: the weight that hangs non-magnetic material in the vertical lower at linear array center.
5. elimination carrier magnetizing field according to claim 3 is characterized in that the method for magnetic survey impact: the weight that hangs non-magnetic material in the vertical lower at linear array center.
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|---|---|---|---|---|
| CN103760505A (en) * | 2014-02-14 | 2014-04-30 | 太原理工大学 | Dual-differential type low noise weak magnetic signal collecting and processing device |
| CN103926627A (en) * | 2014-04-23 | 2014-07-16 | 吉林大学 | Underwater carrier geomagnetic three-component measuring method |
| CN105388533A (en) * | 2015-10-23 | 2016-03-09 | 国家***第二海洋研究所 | Onshore correction method of magnetic interference of magnetometer installed in submarine vehicle |
| CN105486943A (en) * | 2015-11-19 | 2016-04-13 | 江西洪都航空工业集团有限责任公司 | Method for measuring interference magnetic field of electronic component in complex environment |
| CN106959471A (en) * | 2017-04-21 | 2017-07-18 | 中国科学院电子学研究所 | Boat magnetic compensation method based on the non-linear boat total field gradient compensation model of magnetic |
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| CN103760505A (en) * | 2014-02-14 | 2014-04-30 | 太原理工大学 | Dual-differential type low noise weak magnetic signal collecting and processing device |
| CN103926627A (en) * | 2014-04-23 | 2014-07-16 | 吉林大学 | Underwater carrier geomagnetic three-component measuring method |
| CN103926627B (en) * | 2014-04-23 | 2016-08-17 | 吉林大学 | Underwater carrier ground magnetic tricomponent measuring method |
| CN105388533A (en) * | 2015-10-23 | 2016-03-09 | 国家***第二海洋研究所 | Onshore correction method of magnetic interference of magnetometer installed in submarine vehicle |
| CN105486943A (en) * | 2015-11-19 | 2016-04-13 | 江西洪都航空工业集团有限责任公司 | Method for measuring interference magnetic field of electronic component in complex environment |
| CN105486943B (en) * | 2015-11-19 | 2019-03-29 | 江西洪都航空工业集团有限责任公司 | The measurement method in electronic component interference magnetic field under a kind of complex environment |
| CN108061922B (en) * | 2016-11-07 | 2019-06-11 | 北京自动化控制设备研究所 | A kind of distribution magnetic anomaly detection system dynamic magnetic compensation method |
| CN108061922A (en) * | 2016-11-07 | 2018-05-22 | 北京自动化控制设备研究所 | A kind of distribution magnetic anomaly detection system dynamic magnetic compensation method |
| CN106959471A (en) * | 2017-04-21 | 2017-07-18 | 中国科学院电子学研究所 | Boat magnetic compensation method based on the non-linear boat total field gradient compensation model of magnetic |
| CN106959471B (en) * | 2017-04-21 | 2018-10-02 | 中国科学院电子学研究所 | Boat magnetic compensation method based on the non-linear boat total field gradient compensation model of magnetic |
| CN108489514A (en) * | 2018-03-19 | 2018-09-04 | 中国船舶重工集团公司第七0四研究所 | The method that unilateral transverse direction earth magnetism former-wound coil measures induced field Ziy |
| CN108489514B (en) * | 2018-03-19 | 2021-12-14 | 中国船舶重工集团公司第七0四研究所 | Method for measuring induction field Ziy by using unilateral transverse geomagnetic simulation coil |
| CN110308490A (en) * | 2019-06-13 | 2019-10-08 | 南京理工大学 | Rotary motion magnetic anomaly target detection unit and method based on array of magnetic sensors |
| CN110308490B (en) * | 2019-06-13 | 2021-06-08 | 南京理工大学 | Rotary motion magnetic abnormal target detection device and method based on magnetic sensor array |
| CN113729599A (en) * | 2021-09-27 | 2021-12-03 | 重庆金山医疗技术研究院有限公司 | Detection method and system of magnetic control capsule endoscope |
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