CN116184278A - Triaxial magnetic flux sensor measurement optimization method - Google Patents

Triaxial magnetic flux sensor measurement optimization method Download PDF

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Publication number
CN116184278A
CN116184278A CN202211601955.3A CN202211601955A CN116184278A CN 116184278 A CN116184278 A CN 116184278A CN 202211601955 A CN202211601955 A CN 202211601955A CN 116184278 A CN116184278 A CN 116184278A
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Prior art keywords
axis
triaxial
vector
correction value
scale
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王智刚
赵彪
肖松
李志�
尹兴兴
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China Metallurgical Construction Engineering Group Co Ltd
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China Metallurgical Construction Engineering Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G01R35/02—Testing or calibrating of apparatus covered by the other groups of this subclass of auxiliary devices, e.g. of instrument transformers according to prescribed transformation ratio, phase angle, or wattage rating

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

The invention discloses a measurement optimization method of a triaxial magnetic flux sensor, which comprises the following steps: s1, acquiring a triaxial output value of a magnetic flux sensor; s2, constructing an input vector according to the triaxial output value; s3, constructing a coefficient amplification matrix by using the input vector as a data base; s4, decomposing the coefficient amplification matrix to obtain a solution vector; s5, respectively calculating a triaxial offset correction value and a triaxial proportion correction value according to the solution vector; s6, correcting the triaxial output value according to the triaxial offset correction value and the triaxial proportion correction value to obtain a corrected output value. The invention can effectively correct the output value of the sensor, reduce the measurement error and improve the measurement accuracy of the sensor.

Description

Triaxial magnetic flux sensor measurement optimization method
Technical Field
The invention relates to the field of sensor measurement, in particular to a measurement optimization method of a triaxial magnetic flux sensor.
Background
The triaxial magnetic flux sensor inevitably has a magnetization problem due to equipment process and the like, so that hard magnetic interference is caused; meanwhile, various devices and structural members around the magnetic flux sensor inevitably contain magnetizable substances, the substances are magnetized under the action of a measured magnetic field, and the magnetic field formed after magnetization can adversely influence the measured magnetic field, so that soft magnetic interference can be formed. The interference can affect the output value of the magnetic flux sensor, and the zero point and the proportion value of each shaft of the magnetic flux sensor have certain errors, so that the measurement data are inaccurate.
Therefore, there is a need for a method of optimizing measurements of a three-axis magnetic flux sensor that can correct the output value of the sensor and reduce measurement errors.
Disclosure of Invention
Therefore, the invention aims to overcome the defects in the prior art, and provides a measurement optimization method of a three-axis magnetic flux sensor, which can effectively correct the output value of the sensor, reduce the measurement error and improve the measurement accuracy of the sensor.
The invention relates to a measurement optimization method of a triaxial magnetic flux sensor, which comprises the following steps:
s1, acquiring a triaxial output value of a magnetic flux sensor;
s2, constructing an input vector according to the triaxial output value;
s3, constructing a coefficient amplification matrix by using the input vector as a data base;
s4, decomposing the coefficient amplification matrix to obtain a solution vector;
s5, respectively calculating a triaxial offset correction value and a triaxial proportion correction value according to the solution vector;
s6, correcting the triaxial output value according to the triaxial offset correction value and the triaxial proportion correction value to obtain a corrected output value.
Further, the input vector includes vector I [0], vector I [1], vector I [2], vector I [3], vector I [4], vector I [5], vector I [6];
the I [0] =y×y; the I [1] =z×z; the I [2] =x; said I [3] =y; said I [4] =z; said I [5] =1; the I [6] = -X; wherein X is the output value of the X axis in the three-axis output values, Y is the output value of the Y axis in the three-axis output values, and Z is the output value of the Z axis in the three-axis output values.
Further, the coefficient augmentation matrix is determined according to the following formula:
C[i][j]＝I[j]*I[i]；
wherein, C [ i ] [ j ] is an element in the coefficient amplification matrix; the values of i and j are integers of 0 to 6.
Further, the triaxial offset correction value is determined according to the following formula:
X_off＝R[3]/2；
Y_off＝R[4]/(2*R[0])；
Z_off＝R[5]/(2*R[1])；
wherein X_off is an X-axis offset correction value, Y_off is a Y-axis offset correction value, Z_off is a Z-axis offset correction value, and R0, R1, R3, R4, R5 are solution vectors.
Further, a triaxial scale correction value is determined according to the following formula:
X_scale＝1；
Y_scale＝sqrt(R[1])；
Z_scale＝sqrt(R[2])；
wherein X_scale is the X-axis scale correction value, Y_scale is the Y-axis scale correction value, Z_scale is the Z-axis scale correction value, sqrt is a square root symbol; r1 and R2 are solution vectors.
Further, the corrected output value is determined according to the following formula:
X_res＝X–X_off；
Y_res＝(Y–Y_off)/Y_scale；
Z_res＝(Z–Z_off)/Z_scale；
where x_res is the corrected X-axis output value, y_res is the corrected Y-axis output value, and z_res is the corrected Z-axis output value.
Further, constructing a coefficient augmentation matrix, specifically comprising:
constructing n groups of input vectors;
calculating elements in the coefficient augmentation matrix:
C[i][j]＝C[i][j] sum /n；
wherein C [ i ]][j] sum ＝C[i][j] 0 +C[i][j] 1 +...+C[i][j] k +...+C[i][j] n The method comprises the steps of carrying out a first treatment on the surface of the The C [ i ]][j] k ＝I[j] k *I[i] k The method comprises the steps of carrying out a first treatment on the surface of the The I [ j ]] k The j input vector of the k group is I [ I ]] k An ith input vector of a kth group; the values of i and j are integers of 0 to 6.
The beneficial effects of the invention are as follows: according to the method for measuring and optimizing the three-axis magnetic flux sensor, disclosed by the invention, the output value of the three-axis magnetic flux sensor is effectively corrected by constructing the correction algorithm, so that the output data of the three-axis magnetic flux sensor is more accurate and reliable, the measuring or detecting error of the three-axis magnetic flux sensor is further reduced, and the measuring precision of the three-axis magnetic flux sensor is improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples:
FIG. 1 is a flow chart of a measurement optimization method of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings, as shown in fig. 1:
the invention relates to a measurement optimization method of a triaxial magnetic flux sensor, which comprises the following steps:
s1, acquiring a triaxial output value of a magnetic flux sensor; wherein the three-axis output value includes an output value Y of an output value X, Y axis of an x-axis and an output value Z of a Z-axis;
s2, constructing an input vector according to the triaxial output value;
s3, constructing a coefficient amplification matrix by using the input vector as a data base;
s4, decomposing the coefficient amplification matrix to obtain a solution vector; wherein, the decomposition can adopt the existing LDU classification or Gaussian decomposition, and is not repeated here;
s5, respectively calculating a triaxial offset correction value and a triaxial proportion correction value according to the solution vector;
s6, correcting the triaxial output value according to the triaxial offset correction value and the triaxial proportion correction value to obtain a corrected output value.
In the embodiment, in step S2, the triaxial output value is used as basic data to construct an input vector; the input vector includes vector I [0], vector I [1], vector I [2], vector I [3], vector I [4], vector I [5], vector I [6];
the I [0] =y×y; the I [1] =z×z; the I [2] =x; said I [3] =y; said I [4] =z; said I [5] =1; the I [6] = -X; wherein X is the output value of the X axis in the three-axis output values, Y is the output value of the Y axis in the three-axis output values, and Z is the output value of the Z axis in the three-axis output values.
In the embodiment, in step S3, an input vector is used as basic data to construct a coefficient augmentation matrix; wherein the elements in the coefficient augmentation matrix may be determined directly according to the following formula:
C[i][j]＝I[j]*I[i]；
wherein, C [ i ] [ j ] is an element in the coefficient amplification matrix; the values of i and j are integers of 0 to 6.
By the above method, a coefficient amplification matrix of 6 th order can be formed.
Of course, in order to obtain a coefficient amplification matrix with higher accuracy, the coefficient amplification matrix may also be constructed according to the following method, which specifically includes:
constructing n groups of input vectors; in order to construct n groups of input vectors, under the condition that data does not overflow, the collected three-axis output values are data in more directions as much as possible, and the more the collected data are, the higher the accuracy of a coefficient augmentation matrix constructed later is; each group of input vectors includes I0-I6, 7 vectors in total.
Calculating elements in the coefficient augmentation matrix:
C[i][j]＝C[i][j] sum /n；
wherein C [ i ]][j] sum ＝C[i][j] 0 +C[i][j] 1 +...+C[i][j] k +...+C[i][j] n The method comprises the steps of carrying out a first treatment on the surface of the The C [ i ]][j] k ＝I[j] k *I[i] k The method comprises the steps of carrying out a first treatment on the surface of the The I [ j ]] k The j input vector of the k group is I [ I ]] k The ith input vector of the kth groupThe method comprises the steps of carrying out a first treatment on the surface of the The values of i and j are integers of 0 to 6.
According to the above method, a coefficient amplification matrix with high accuracy can be formed.
LDU classification or Gaussian decomposition is performed on the coefficient amplification matrix thus constructed to obtain 6 solution vectors in total, R < 0 >, R < 1 >, R < 2 >, R < 3 >, R < 4 >, R < 5 >.
In this embodiment, the triaxial offset correction value is determined according to the following formula:
X_off＝R[3]/2；
Y_off＝R[4]/(2*R[0])；
Z_off＝R[5]/(2*R[1])；
wherein X_off is an X-axis offset correction value, Y_off is a Y-axis offset correction value, Z_off is a Z-axis offset correction value, and R0, R1, R3, R4, R5 are solution vectors.
Determining a triaxial scale correction value according to the following formula:
X_scale＝1；
Y_scale＝sqrt(R[1])；
Z_scale＝sqrt(R[2])；
wherein X_scale is the X-axis scale correction value, Y_scale is the Y-axis scale correction value, Z_scale is the Z-axis scale correction value, sqrt is a square root symbol; r1 and R2 are solution vectors.
Determining a corrected output value according to the following formula:
X_res＝X–X_off；
Y_res＝(Y–Y_off)/Y_scale；
Z_res＝(Z–Z_off)/Z_scale；
where x_res is the corrected X-axis output value, y_res is the corrected Y-axis output value, and z_res is the corrected Z-axis output value.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (7)

1. A triaxial magnetic flux sensor measurement optimization method is characterized in that: the method comprises the following steps:
s1, acquiring a triaxial output value of a magnetic flux sensor;
s2, constructing an input vector according to the triaxial output value;
s3, constructing a coefficient amplification matrix by using the input vector as a data base;
s4, decomposing the coefficient amplification matrix to obtain a solution vector;
s5, respectively calculating a triaxial offset correction value and a triaxial proportion correction value according to the solution vector;
s6, correcting the triaxial output value according to the triaxial offset correction value and the triaxial proportion correction value to obtain a corrected output value.
2. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 1, wherein: the input vector includes vector I [0], vector I [1], vector I [2], vector I [3], vector I [4], vector I [5], vector I [6];
the I [0] =y×y; the I [1] =z×z; the I [2] =x; said I [3] =y; said I [4] =z; said I [5] =1; the I [6] = -X; wherein X is the output value of the X axis in the three-axis output values, Y is the output value of the Y axis in the three-axis output values, and Z is the output value of the Z axis in the three-axis output values.
3. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 2, wherein: the coefficient augmentation matrix is determined according to the following formula:
C[i][j]＝I[j]*I[i]；
wherein, C [ i ] [ j ] is an element in the coefficient amplification matrix; the values of i and j are integers of 0 to 6.
4. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 1, wherein: determining a triaxial offset correction value according to the following formula:
X_off＝R[3]/2；
Y_off＝R[4]/(2*R[0])；
Z_off＝R[5]/(2*R[1])；
wherein X_off is an X-axis offset correction value, Y_off is a Y-axis offset correction value, Z_off is a Z-axis offset correction value, and R0, R1, R3, R4, R5 are solution vectors.
5. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 4, wherein: determining a triaxial scale correction value according to the following formula:
X_scale＝1；
Y_scale＝sqrt(R[1])；
Z_scale＝sqrt(R[2])；
wherein X_scale is the X-axis scale correction value, Y_scale is the Y-axis scale correction value, Z_scale is the Z-axis scale correction value, sqrt is a square root symbol; r1 and R2 are solution vectors.
6. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 5, wherein: determining a corrected output value according to the following formula:
X_res＝X–X_off；
Y_res＝(Y–Y_off)/Y_scale；
Z_res＝(Z–Z_off)/Z_scale；
where x_res is the corrected X-axis output value, y_res is the corrected Y-axis output value, and z_res is the corrected Z-axis output value.
7. The method for optimizing measurement of a three-axis magnetic flux sensor according to claim 2, wherein: constructing a coefficient augmentation matrix, which specifically comprises:
constructing n groups of input vectors;
calculating elements in the coefficient augmentation matrix:
C[i][j]＝C[i][j] sum /n；
wherein C [ i ]][j] sum ＝C[i][j] 0 +C[i][j] 1 +...+C[i][j] k +...+C[i][j] n The method comprises the steps of carrying out a first treatment on the surface of the The C [ i ]][j] k ＝I[j] k *I[i] k The method comprises the steps of carrying out a first treatment on the surface of the The I [ j ]] k The j input vector of the k group is I [ I ]] k An ith input vector of a kth group; the values of i and j are integers of 0 to 6.
CN202211601955.3A 2022-12-13 2022-12-13 Triaxial magnetic flux sensor measurement optimization method Pending CN116184278A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN202211601955.3A CN116184278A (en) 2022-12-13 2022-12-13 Triaxial magnetic flux sensor measurement optimization method

Publications (1)

Publication Number Publication Date
CN116184278A true CN116184278A (en) 2023-05-30

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