CN105575166B - A kind of dead ship condition monitoring method detected based on engine to terrestrial magnetic disturbance and device - Google Patents

A kind of dead ship condition monitoring method detected based on engine to terrestrial magnetic disturbance and device Download PDF

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CN105575166B
CN105575166B CN201510981973.2A CN201510981973A CN105575166B CN 105575166 B CN105575166 B CN 105575166B CN 201510981973 A CN201510981973 A CN 201510981973A CN 105575166 B CN105575166 B CN 105575166B
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mrow
msub
mover
mfrac
munderover
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CN105575166A (en
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金昊炫
曾嵘
郑小平
施浏晟
高歌
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HANGZHOU COMMNET CO Ltd
Soyea Technology Co Ltd
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HANGZHOU COMMNET CO Ltd
Soyea Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors

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  • Measuring Magnetic Variables (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

The invention belongs to the technical field of information processing of sensor in terms of intelligent transportation.More particularly to a kind of dead ship condition monitoring method detected based on engine to terrestrial magnetic disturbance and device.To the strong jamming in earth's magnetic field when this method is started using automobile transmitter, to vehicle, travel condition carries out pattern-recognition on parking stall, so as to reduce because other car engine starts the influence to this parking space state testing result.

Description

A kind of dead ship condition monitoring method detected based on engine to terrestrial magnetic disturbance and device
Technical field
The invention belongs to the technical field of information processing of sensor in terms of intelligent transportation.It is more particularly to a kind of to be based on engine To the dead ship condition monitoring method and device of terrestrial magnetic disturbance detection.
Background technology
With the rapid growth of China's economy, the recoverable amount of automobile also increases sharply, the automobile quantity especially in city Increase sharply, cause parking stall quantity nervous, become increasingly conspicuous the problem of parking difficulty.Storing cycle problem has become influence urban transportation An important factor for, subject matter is as follows：Nowhere stop, break rules and regulations road occupying, unattended, security administration etc..And these problems are often Can be ignored so that the situation that city falls into chaos unbearably.
Many parking lots or parking stall also rest on the labor management stage at present, completely by manually checking parking stall, artificial Record access time, manual toll collection, and in large-scale parking lot or meet peak period, manual type management often power not from The heart.Manual toll collection is short of management supervision again, it is easy to situation about claiming for charge at random.Therefore parking resource is excavated, foundation is based on city The intelligent parking supervisory systems of city's management big data platform is extremely urgent, has in smart city construction from now on wide Wealthy prospect.
Main dead ship condition detection scheme has in the market：Ground induction coil, ultrasonic wave, infrared induction and video detection Deng.Ground induction coil can not be applied to parking lot due to the shortcomings of construction is not easy, road pavement destruction is big, difficult in maintenance.Ultrasonic wave compared with Easily it is affected by environment, stability deficiency, often because the sensitivity decrease of probe and caused by accuracy of detection reduce.Infrared induction equally by Environment influences, and the particularly light and shade in the headlight of automobile and parking lot change often causes flase drop.Ultrasonic wave and infrared it can not answer For open parking ground.The accuracy of detection of video detection is not current still high, and cost is higher.
For the dead ship condition monitoring method of geomagnetic sensor mode, because its physical characteristic is highly susceptible to adjacent car The interference of position vehicle, the data of detection are the magnetic field intensity after all vehicle joint effects in periphery in fact, and such magnetic field is strong Degree and the magnetic field intensity of single parking stall vehicle influence are substantially distinguishing, and vehicle detection is done with such data, acquisition As a result it is and inaccurate.
Prior art attempts to solve the above problems by introducing other car interference value, but is still based on geomagnetic data change Change thresholding to judge to have car/disturbed without car and other car.Problem is not solved at all.Find after tested, other car has started It is very big to earth magnetic effect in launch process, it is easy to interfere with the numerical value of geomagnetic sensor so as to cause to judge to malfunction.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, it is proposed that one kind is detected based on engine to terrestrial magnetic disturbance Dead ship condition monitoring method and device.To the strong jamming in earth's magnetic field when this method is started using automobile transmitter, vehicle is existed Travel condition carries out pattern-recognition on parking stall, so as to reduce because other car engine starts to this parking space state testing result Influence.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps：
System is initialized first, and the ground magnetic number of current geomagnetic sensor installation site point is measured under preferable without car state According to.Measure geomagnetic data value under current environment and be averaged, to obtain background magnetic field value (x0 y0 z0), it can be represented For：
Wherein (x, y, z) is to measure obtained geomagnetic data, N1For for average sampled point number, can take 10~ 100.Geomagnetic data using this data as preferable background environment.Preferable without car state refers on position to be detected and surrounding is all In without car state.
After background earth magnetism environment learning is completed, system enters dead ship condition monitoring pattern.Because automobile engine is started When, influences very big on magnetic survey value, therefore enters parking stall in automobile and all undergoes a geomagnetic data when sailing out of parking stall The process acutely changed, the amplitude acutely changed with will be stronger than background change between magnetic value of ground after magnetic value and vehicle parking Change amplitude.Traditional dead ship condition detection method based on earth magnetism value changes can not screen due to neighbouring parking stall automobile hair well Motivation starts caused false-alarm signal.The present invention identifies and matched hair using the derivative for calculating the geomagnetic data that measurement obtains Motivation startup and the process that geomagnetic data corresponding to process changes of stopping working, avoid using engine start by identifying the process When the geomagnetic data value that obtains of measurement carry out dead ship condition detection, avoid the occurrence of caused by adjacent parking stall car engine Error detection.
The derivative of the geomagnetic data measured is persistently calculated in dead ship condition monitoring pattern, i.e.,：
Wherein TsFor geomagnetic data measurement interval.
Whether the absolute value for the derivative value for then judging to be calculated is more than threshold T h1, judge ground by this method Positive pulse/negative pulse of magnetic survey value, to catch this parking stall or adjacent parking stall automobile engine starting/flame-out process.Threshold value Th1 is used between judging at the beginning of geomagnetic data acute variation, typically may be configured as 5~20.Such as lower section is used when specifically judging Formula：
|Δx(i)|≥Th1 or|Δy(i)|≥Th1 or|Δz(i)|≥Th1
When the obtained derivative value of measurement is less than threshold value, illustrate currently without automobile engine start/stop working process or Terrestrial magnetic disturbance factor is present.Because the present invention is to be used to judge parking stall state, certainly existed before a parking stall state change Process is started/stopped working to one automobile engine, i.e., in the presence of a geomagnetic data acute variation process.And automobile is from engine start Change to the geomagnetic data during flame-out compared with background magnetic field data it is very big, now if stopped using the data Parking space state detects, and is likely to have influence on the detection knot of this parking space state when adjacent parking stall has associated vehicular engine to start Fruit.
When judging that derivative value is more than thresholding, it is believed that currently due to car engine or flame-out cause magnetic survey value acutely to become Change, then the geomagnetic data for hereafter measuring to obtain bel not applied to the identification to parking space state.Now need to judge automobile engine from It is sent to flame-out process.The present invention is by recording the derivative value of two neighboring ground magnetic field impulse come to engine start/stopped working The magnetic survey value of journey carries out pattern-recognition, to reach the influence for eliminating engine start and being detected to dead ship condition.
After detecting that magnetic survey value derivative value is more than thresholding, it is believed that capture a ground magnetic field impulse, then continue to count Calculate magnetic survey value derivative value.When geomagnetic data derivative absolute value is more than threshold value for the second time, pattern-recognition is carried out.It is specific next Say, calculate geomagnetic data in the time terminated every time since derivative value is more than threshold value to derivative value less than threshold value first and lead The average of numerical value, i.e.,：
In formula n be calculate average sampling start time, N2To be currently used in adopting for the geomagnetic data derivative of calculating average Sample number.
Then the derivative average phase adduction that the adjacent impulsive measurement of earth magnetism twice obtains is averaged, it can be represented For：
Whether the average value for then judging to be calculated is less than threshold T h2, the calculating of average value and thresholding compare and can led to Cross following manner：
Wherein Th2To judge symmetrical geomagnetic data pulse gate limit value, 20~50 are could be arranged to.
When less than threshold value, it is believed that be a pair of ground magnetic field impulses caused by same vehicle motor starts/stopped working It is right.After local magnetic field impulse is to appearance, follow-up earth magnetism sampled data can be used for carrying out parking space state detection.Then calculate N3Secondaryly The average of magnetic sampled data, i.e.,
Wherein N3For average length, 10~50 are arranged to.
The difference between average and background value is calculated, i.e.,：
Judge whether difference is more than threshold T h3, such as larger than then send parking space state and change information, instruction has car signal. Th3It could be arranged to 20~50.
Brief description of the drawings
Fig. 1 flow charts of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Time synchronization method under a kind of high-speed mobile environment, this method is based on engine and terrestrial magnetic disturbance is detected, for carrying The correct probability that dead ship condition detects under high complex environment, this method specifically comprise the following steps：
Step (1) system initializations, self study is carried out to background magnetic field under without car state.Measure under current environment Geomagnetic data value is simultaneously averaged, to obtain background magnetic field value (x0 y0 z0), it can be expressed as：
Wherein (x, y, z) is to measure obtained geomagnetic data, N1For for average sampled point number, can take 10~ 100。
Step (2) calculates the derivative of the geomagnetic data measured.It can be expressed as：
Wherein TsFor geomagnetic data measurement interval.
Whether the absolute value for the derivative value that step (3) judges to be calculated is more than threshold T h1, such as otherwise go to step (6).Wherein threshold T h15~20 are could be arranged to, when specifically judging in the following way：
|Δx(i)|≥Th1 or|Δy(i)|≥Th1 or|Δz(i)|≥Th1
Step (4) stores geomagnetic data derivative value；
Step (5) sets geomagnetic data derivative record mark, goes to step (2)；
Step (6) judges whether geomagnetic data derivative record mark has been set, and such as otherwise goes to step (2)；
Step (7) calculates the average of the derivative value of record and storage, its average can be calculated with following manner：
Wherein N2For the number of samples of currently stored geomagnetic data.
Step (8) judges whether geomagnetic data pulse mark has been set, and has such as set, has then gone to step (10)；
Step (9) sets geomagnetic data pulse mark, and goes to step (2)；
The derivative value average phase adduction of current derivative value average and storage is averaged by step (10), and it can be with table It is shown as：
Whether the average value that step (11) judges to be calculated is less than threshold T h2, such as otherwise go to step 2.Average value Calculating and thresholding compare can be in the following way：
Wherein Th2To judge symmetrical geomagnetic data pulse gate limit value, 20~50 are could be arranged to.
Step (12) calculates N3The average of secondary earth magnetism sampled data, i.e.,
Step (13) calculates the difference between average and background value, i.e.,：
Step (14) judges whether difference is more than threshold T h3, such as otherwise removing has car mark and goes to step (16)；
Step (15) is provided with car mark；
Step (16) removes geomagnetic data record mark；
Step (17) removes geomagnetic data pulse mark, goes to step (2).

Claims (1)

  1. A kind of 1. dead ship condition monitoring method detected based on engine to terrestrial magnetic disturbance, it is characterized in that comprising the following steps：
    Step (1)：System initialization, self study is carried out to background magnetic field under without car state, that is, measure earth magnetism under current environment Data value is simultaneously averaged, to obtain background magnetic field value (x0 y0 z0), it is expressed as：
    <mrow> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>1</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>1</mn> </msub> </munderover> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>1</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>1</mn> </msub> </munderover> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>1</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>1</mn> </msub> </munderover> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </mrow>
    Wherein (x, y, z) is to measure obtained geomagnetic data, N1For average sampled point number, to take 10~100；
    Step (2)：The derivative of the geomagnetic data measured is calculated, it can be expressed as：
    <mrow> <mi>&amp;Delta;</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <msub> <mi>T</mi> <mi>s</mi> </msub> </mfrac> </mrow>
    Wherein TsFor geomagnetic data measurement interval；
    Step (3)：Whether the absolute value for the derivative value for judging to be calculated is more than threshold T h1, such as otherwise go to step (6)；
    Wherein threshold T h1Value takes 5~20, when specifically judging in the following way：
    |Δx(i)|≥Th1or|Δy(i)|≥Th1or|Δz(i)|≥Th1
    Step (4)：Store geomagnetic data derivative value；
    Step (5)：Geomagnetic data derivative record mark is set, gone to step (2)；
    Step (6)：Judge whether geomagnetic data derivative record mark has been set, such as otherwise go to step (2)；
    Step (7)：The average and storage, its average for calculating the derivative value of record are calculated with following manner：
    <mrow> <mi>&amp;Delta;</mi> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mi>n</mi> </mrow> <mrow> <msub> <mi>N</mi> <mn>2</mn> </msub> <mo>+</mo> <mi>n</mi> </mrow> </munderover> <mi>&amp;Delta;</mi> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <mi>&amp;Delta;</mi> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mi>n</mi> </mrow> <mrow> <msub> <mi>N</mi> <mn>2</mn> </msub> <mo>+</mo> <mi>n</mi> </mrow> </munderover> <mi>&amp;Delta;</mi> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <mi>&amp;Delta;</mi> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <mi>n</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mi>n</mi> </mrow> <mrow> <msub> <mi>N</mi> <mn>2</mn> </msub> <mo>+</mo> <mi>n</mi> </mrow> </munderover> <mi>&amp;Delta;</mi> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </mrow>
    Wherein N2For the number of samples of currently stored geomagnetic data；
    Step (8)：Judge whether geomagnetic data pulse mark has been set, such as set, then gone to step (10)；
    Step (9)：Geomagnetic data pulse mark is set, and goes to step (2)；
    Step (10)：The derivative value average phase adduction of current derivative value average and storage is averaged, it can be expressed as：
    <mrow> <mover> <mi>x</mi> <mo>^</mo> </mover> <mo>=</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;Delta;</mi> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mn>2</mn> </mfrac> <mo>,</mo> <mover> <mi>y</mi> <mo>^</mo> </mover> <mo>=</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;Delta;</mi> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mn>2</mn> </mfrac> <mo>,</mo> <mover> <mi>z</mi> <mo>^</mo> </mover> <mo>=</mo> <mfrac> <mrow> <mi>&amp;Delta;</mi> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>1</mn> </msub> <mo>)</mo> </mrow> <mo>+</mo> <mi>&amp;Delta;</mi> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mrow> <mo>(</mo> <msub> <mi>n</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mn>2</mn> </mfrac> </mrow>
    Step (11)：Whether the average value for judging to be calculated is less than threshold T h2, such as otherwise go to step (2)；The meter of average value Calculation and thresholding compare can be in the following way：
    <mrow> <mo>(</mo> <msup> <mover> <mi>x</mi> <mo>^</mo> </mover> <mn>2</mn> </msup> <mo>+</mo> <msup> <mover> <mi>y</mi> <mo>^</mo> </mover> <mn>2</mn> </msup> <mo>+</mo> <msup> <mover> <mi>z</mi> <mo>^</mo> </mover> <mn>2</mn> </msup> <mo>)</mo> <mo>&amp;le;</mo> <msub> <mi>Th</mi> <mn>2</mn> </msub> </mrow>
    Wherein Th2To judge symmetrical geomagnetic data pulse gate limit value, 20~50 are could be arranged to；
    Step (12)：Calculate N3The average of secondary earth magnetism sampled data, i.e.,
    <mrow> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>3</mn> </msub> </munderover> <mi>x</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>3</mn> </msub> </munderover> <mi>y</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> <mo>,</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <msub> <mi>N</mi> <mn>2</mn> </msub> </mfrac> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <msub> <mi>N</mi> <mn>3</mn> </msub> </munderover> <mi>z</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>)</mo> </mrow> </mrow>
    Step (13)：The difference between average and background value is calculated, i.e.,：
    <mrow> <mi>M</mi> <mo>=</mo> <msup> <mrow> <mo>(</mo> <mover> <mi>x</mi> <mo>&amp;OverBar;</mo> </mover> <mo>-</mo> <msub> <mi>x</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mover> <mi>y</mi> <mo>&amp;OverBar;</mo> </mover> <mo>-</mo> <msub> <mi>y</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> <mo>+</mo> <msup> <mrow> <mo>(</mo> <mover> <mi>z</mi> <mo>&amp;OverBar;</mo> </mover> <mo>-</mo> <msub> <mi>z</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mn>2</mn> </msup> </mrow>
    Step (14)：Judge whether difference is more than threshold T h3, such as otherwise removing has car mark and goes to step (16)；
    Step (15)：It is provided with car mark；
    Step (16)：Remove geomagnetic data record mark；
    Step (17)：Geomagnetic data pulse mark is removed, is gone to step (2).
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