CN117289184A - Method for assisting in identifying interference magnetic field by using double magnetic sensors - Google Patents
Method for assisting in identifying interference magnetic field by using double magnetic sensors Download PDFInfo
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- CN117289184A CN117289184A CN202311469714.2A CN202311469714A CN117289184A CN 117289184 A CN117289184 A CN 117289184A CN 202311469714 A CN202311469714 A CN 202311469714A CN 117289184 A CN117289184 A CN 117289184A
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 238
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000009434 installation Methods 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 11
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 230000009977 dual effect Effects 0.000 claims description 7
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 claims description 4
- 230000005358 geomagnetic field Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000002790 cross-validation Methods 0.000 claims description 2
- 230000024121 nodulation Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000012795 verification Methods 0.000 description 4
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
-
- 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
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Geophysics And Detection Of Objects (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention provides a method for assisting in identifying an interference magnetic field by utilizing a double magnetic sensor, which belongs to the technical field of rail transit and comprises the steps of installation and baseline calibration of an array magnetic sensor; collecting magnetic time series data by using an array magnetic sensor, extracting magnetic field characteristics including a magnetic inclination angle and a magnetic declination angle, and obtaining a magnetic characteristic time series; the mileage time sequence and the magnetic characteristic time sequence are aligned through time, so that the space lattice of the magnetic characteristic is realized, and the magnetic characteristic is ensured to be uniformly distributed in space; the similarity of the magnetic characteristic sequences is evaluated by using a dynamic time warping algorithm, so that distortion caused by space lattice nodulation to the sequences is effectively avoided; comparing the calculated DTW distance with a preset threshold value, and if the DTW distance exceeds the threshold value, indicating that an interference magnetic field is detected and outputting an interference detection result. The magnetic characteristic sequence is cross-verified through the magnetic array, so that the magnetic interference detection precision and efficiency are improved, and the magnetic interference detection method is suitable for application scenes such as magnetic interference compensation, magnetic matching positioning and the like.
Description
Technical Field
The invention belongs to the technical field of rail transit, and particularly relates to a method for assisting in identifying an interference magnetic field by using a double magnetic sensor.
Background
Railway trains have played an indispensable role in the traffic field, and have assumed a great deal of freight and passenger transport work. During the running process of a train, how to accurately acquire the position of the train at any time and any place is always the key point of research. At present, the most widely applied train positioning technology is based on an inquirer, a transponder and an odometer, and the principle is that the transmitted signals received by the inquirer and the transponder when the train passes through the inquirer and the transponder are matched with an electronic map stored in the train to obtain the position of the train. The positioning technology based on the GNSS can acquire the high-precision position information of the train at lower cost, but is difficult to continuously provide positioning service for the train in signal shielding areas (such as tunnels, deep mountains and the like). Under the environment that satellite positioning such as a tunnel is unavailable, errors of the inertial navigation system are accumulated continuously along with the increase of time, and position information can be provided for a train in a short time.
Geomagnetic matching positioning technology is an emerging positioning technology in recent years. The geomagnetic field exists at any place on the earth, the geomagnetic vector at any place has uniqueness, and the geomagnetic vector provides possibility for geomagnetic matching-based positioning. The matched positioning premise is that repeated magnetic field characteristics can be acquired, but the railway vehicle is mainly made of ferromagnetic materials, when the vehicle is in fault with the vehicles on the adjacent rails at high speed, severe induction magnetic field interference can be generated, and the magnetic field characteristics for positioning are submerged by the interference magnetic field, so that the railway vehicle cannot be positioned.
Disclosure of Invention
In order to solve the technical problems, the invention provides a method for identifying an interference magnetic field by using the assistance of a double magnetic sensor, which is used for detecting a magnetic interference signal through space lattice dotting of a magnetic characteristic sequence and cross verification of the double magnetic characteristic sequence.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method for assisting in identifying an interfering magnetic field using a dual magnetic sensor, comprising the steps of:
step 1) performing installation and baseline calibration of a magnetic array, wherein the magnetic array comprises a first magnetic sensor and a second magnetic sensor, and the first magnetic sensor and the second magnetic sensor are combinedThe second magnetic sensor is arranged on the same side of the front and the rear of the train and ensures that the distance between the first magnetic sensor and the second magnetic sensor is equal toThe three axes are oriented consistently and are located in the same coordinate system;
step 2) acquiring a magnetic time series with a first magnetic sensor and a second magnetic sensor of a magnetic arrayAnd mileage time series>And extracting magnetic field characteristics->Comprising a magnetic tilt angle->Magnetic declination->Obtaining magnetic characteristic time series +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is a magnetic field characteristic; />Is a magnetic sensor measurement; />For measuring time; />Is a mileage value;
step 3) time-series mileageTime series with magnetic features->By time alignment, space lattice dotting of magnetic features is realized, and a magnetic feature space sequence is obtained>Ensuring that the magnetic characteristics are uniformly distributed in space;
step 4) obtaining a DTW distance by using the DTW, and evaluating the magnetic characteristic space sequence by using the DTW distanceIs a magnetic characteristic space sequence of the magnetic array +.>Cross-validation is performed to avoid alignment of magnetic signature spatial sequences due to spatial meshingCausing distortion; the DTW represents a dynamic time warping algorithm;
and 5) comparing the DTW distance in the step 4) with an empirical threshold value which is set in advance, if the DTW distance exceeds the empirical threshold value, indicating that an interference magnetic field is detected, and outputting an interference detection result.
The invention is applied to the field of magnetic matching positioning of railway vehicles, and has the beneficial effects that:
1. the method can be applied to the fields of magnetic interference compensation, magnetic matching positioning and the like, can improve the magnetic interference compensation precision, reduce the influence of an interference magnetic field on the positioning performance, and improve the robustness of algorithms such as magnetic matching positioning, magnetic interference compensation and the like.
2. The invention extracts the characteristics of the magnetic dip angle and the magnetic bias angle of the magnetic sequence, so that the cross verification of the magnetic array is more reliable, and the magnetic interference detection accuracy is improved.
3. The invention has lower time complexity, can detect magnetic interference in real time and has stronger feasibility.
Drawings
FIG. 1 is a schematic diagram of a magnetic sensor installation;
FIG. 2 is a schematic diagram of space meshing; wherein, (a) is a schematic alignment diagram of the magnetic characteristic time sequence in the mileage time sequence, and (b) is a schematic diagram of the magnetic characteristic space sequence;
FIG. 3 is a flow chart of a method for assisting in identifying an interfering magnetic field using a dual magnetic sensor according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The method for assisting in identifying the interference magnetic field by using the double magnetic sensors comprises the following steps of: first, the magnetic array is installed according to the method shown in fig. 1, and the base line is calibrated, and the coordinate system is unified. The magnetic array includes two magnetic sensors. The observation value obtained by the magnetic sensor mounted on the railway vehicle and the observation value of the odometer are used as the original input of the algorithm, and the interference magnetic field detection result is finally obtained through calculation.
As shown in fig. 3, a method for assisting in identifying an interfering magnetic field by using a dual magnetic sensor according to the present invention comprises the following steps:
step 1, mounting a magnetic array;
step 2, acquiring a magnetic time sequence and extracting features to obtain a magnetic feature time sequence;
step 3, performing space lattice dotting on the magnetic characteristic time sequence acquired by the magnetic sensor through the odometer to obtain a magnetic characteristic space sequence;
step 4, calculating the distance of a magnetic characteristic space sequence DTW (dynamic time warping algorithm), and performing cross verification by using the DTW distance;
and 5, comparing the DTW distance in the step 4 with an empirical threshold value set in advance, and outputting a detection result. If the DTW distance is above a certain threshold value, it indicates that an interfering magnetic field is present. The invention realizes the detection of the interference magnetic field through the extraction of the magnetic sequence acquisition characteristics, the space lattice dotting of the magnetic characteristic sequences and the sequence cross verification of the double magnetic characteristics. The invention needs to adopt a high-precision triaxial fluxgate sensor to collect geomagnetic data.
Specifically, the step 1 includes: mounting the first magnetic sensor A and the second magnetic sensor B on the same side of the front and rear of the train and ensuring that the distance between the first magnetic sensor A and the second magnetic sensor B is equal toThe xyz axes are oriented identically and lie in the same coordinate system as shown in fig. 1. />The value of (2) is 20m @, @>The value of (2) should be set within a reasonable size range, excessive +.>Can lead to a certain hysteresis of the detection, whereas too small +.>Resulting in no detection of the disturbing magnetic field.
The step 2 comprises the following steps: acquisition of magnetic time series using magnetic arraysAnd mileage time series>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is a magnetic sensor measurement; />For measuring time; />Is a mileage value. And extracting magnetic field characteristics/>Which comprises a magnetic tilt angle->Magnetic declination->Obtaining magnetic characteristic time series +.>The stability of interference detection is improved;
acquired magnetic time seriesAnd mileage time series>The method comprises the following steps:
(1)
wherein,is at->Magnetic measurement of time of day +.>Is at->Mileage measurement value at moment; />Represents the firstA serial number of the measured values.
Based on measurements of triaxial magnetic sensorsWherein->、/>、The three-axis measurements of the magnetic sensor, respectively. The magnetic inclination angle can be calculated>And magnetic declination->：
(2)
Wherein,for the geomagnetic field horizontal component, the calculation formula is as follows:
(3)
and then the mileage time sequenceTime series with magnetic features->By time alignment, space lattice dotting of magnetic features is realized, and a magnetic feature space sequence is obtained>Ensuring that the magnetic features are uniformly distributed in space, as shown in fig. 2, wherein (a) in fig. 2 is a schematic alignment diagram of the magnetic feature time sequence in mileage time sequence; FIG. 2 (b) shows that the magnetic features are emptySchematic of the inter sequence.
Magnetic signature space sequenceExpressed as:
(4)
wherein,sampling interval for mileage; />Sampling the grid point sequence number for the mileage. The magnetic signature sequences are then spatially homogeneously distributed, wherein +.>Represents->Magnetic characteristics of the individual lattice points. />The value is 1m, and is->The smaller the value of (c) is, the smaller the interference magnetic field can be detected, but the higher the corresponding performance requirement on the magnetic sensor is.
The step 3 comprises the following steps: the magnetic characteristic space sequence of the second magnetic sensor B arranged on the rear side has certain space hysteresis compared with the magnetic characteristic space sequence of the first magnetic sensor A arranged on the front side, and the magnetic characteristic space sequence acquired by the first magnetic sensor A arranged on the front side is thatThe second magnetic sensor B mounted on the rear side acquires a magnetic signature space sequence of +.>Wherein, the method comprises the steps of, wherein,/>and->Magnetic characteristics of the first magnetic sensor A and the second magnetic sensor B, respectively, < >>And->Mileage point values of magnetic characteristic sequences acquired by the first magnetic sensor A and the second magnetic sensor B respectively are different in mileage by +.>：
(5)
Conversion to number of lattice pointsThe method comprises the following steps:
(6)
will beBackward movement +.>The individual lattice points can be equal to->Spatially aligned.
The step 4 comprises the following steps: the distance of the two magnetic signature spatial sequences is calculated using the DTW algorithm. First, a distance matrix of a magnetic characteristic space sequence of the first magnetic sensor A and the second magnetic sensor B is calculated:
(7)
wherein,and->Counting the number of the magnetic characteristic space sequence grids; />A distance matrix of two sequences, the size is。/>And->First magnetic sensor A and second magnetic sensor B respectively in the magnetic characteristic space sequence +.>Person and->And each.
Then by distance matrixIs->Starting from the beginning, continuously advancing along the local shortest path to finally obtain the DTW distance +.>：
(8)
Wherein,is at the +.>Go->The components of the columns.
The DTW distance can be used to measure whether the two geomagnetic feature space sequences are similar, and the similarity is inversely proportional to the DTW distance whenEqual to zero, it is stated that the two magnetic signature spatial sequences are identical.
The step 5 comprises the following steps: comparing the calculated similarity with a preset threshold value, indicating that an interference magnetic field is detected by a magnetic characteristic space sequence with the similarity exceeding the threshold value, and outputting an interference detection result.
Specifically, an empirical threshold is setWhen->It can be considered that no interference occurs when +.>When an interfering magnetic field is present. />The smaller the sensitivity to disturbing magnetic fields.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. A method for assisting in identifying an interfering magnetic field by using a double magnetic sensor, comprising the following steps:
step 1) performing installation and baseline calibration of a magnetic array, wherein the magnetic array comprises a first magnetic sensor and a second magnetic sensor, the first magnetic sensor and the second magnetic sensor are installed on the same side of the front and the rear of the train, and the distance between the first magnetic sensor and the second magnetic sensor is ensured to be equal toThe three axes are oriented consistently and are located in the same coordinate system;
step 2) acquiring a magnetic time series with a first magnetic sensor and a second magnetic sensor of a magnetic arrayAnd mileage time series>And extracting magnetic field characteristics->Comprising a magnetic tilt angle->Magnetic declination->Obtaining magnetic characteristic time series +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is a magnetic field characteristic; />Is a magnetic sensor measurement; />For measuring time; />Is a mileage value;
step 3) time-series mileageTime series with magnetic features->By time alignment, space lattice dotting of magnetic features is realized, and a magnetic feature space sequence is obtained>Ensuring that the magnetic characteristics are uniformly distributed in space;
step 4) obtaining a DTW distance by using the DTW, and evaluating the magnetic characteristic space sequence by using the DTW distanceIs a magnetic characteristic space sequence of the magnetic array +.>Cross-validation is performed to avoid alignment of magnetic signature spatial sequences due to spatial meshingCausing distortion; the DTW represents a dynamic time warping algorithm;
and 5) comparing the DTW distance in the step 4) with an empirical threshold value which is set in advance, if the DTW distance exceeds the empirical threshold value, indicating that an interference magnetic field is detected, and outputting an interference detection result.
2. The method for assisting in identifying an interfering magnetic field by using a dual magnetic sensor according to claim 1, wherein in the step 2), the acquired magnetic time series isAnd mileage time series>The method comprises the following steps:
(1)
wherein,is at->Magnetic measurement of time of day +.>Is at->Mileage measurement value at moment; />Represents->A serial number of each measurement value;
based on measurements of triaxial magnetic sensorsCalculating the magnetic dip +.>And magnetic declination->：
(2)
Wherein the method comprises the steps of、/>、/>Respectively measuring values of three axes of the magnetic sensor;
for the geomagnetic field horizontal component, the calculation formula is as follows:
(3)。
3. the method for assisting in identifying interfering magnetic fields by using dual magnetic sensors as recited in claim 2, wherein in said step 3), said sequence of magnetic signature spaceThe method comprises the following steps:
(4)
wherein,sampling interval for mileage; />Sampling a grid point sequence number for mileage; />Represents->Magnetic features of the individual grid points;
a first magnetic sensor mounted on the front side acquires a magnetic characteristic space sequenceA second magnetic sensor mounted on the rear side acquires the magnetic signature spatial sequence +.>，/>And->Magnetic characteristics of the first magnetic sensor and magnetic characteristics of the second magnetic sensor, respectively, < >>And->The method comprises the steps of (1) respectively obtaining a mileage point value of a magnetic characteristic space sequence acquired by a first magnetic sensor and a mileage point value of a magnetic characteristic space sequence acquired by a second magnetic sensor, < ->And->Difference in mileage +.>The method comprises the following steps:
(5)
wherein A represents a first magnetic sensor, B represents a second magnetic sensor,and->The method comprises the steps of respectively obtaining the mileage lattice point values of a magnetic characteristic space sequence acquired by a first magnetic sensor and a second magnetic sensor; conversion to the number of lattice points +.>The calculation formula is as follows:
(6)
spatial sequence of magnetic features acquired by a first magnetic sensorBackward movement +.>The individual lattice points are the magnetic characteristic space sequences acquired by the second magnetic sensor +.>Spatially aligned.
4. A method for assisting in identifying a disturbing magnetic field with a dual magnetic sensor according to claim 3, wherein said step 4) comprises:
calculating a distance matrix of the magnetic characteristic space sequences of the first magnetic sensor and the second magnetic sensor:
(7)
wherein,and->Counting the number of the magnetic characteristic space sequence grids; />Distance matrix of two sequences, size +.>；And->First magnetic sensor in magnetic characteristic space sequence>The first magnetic sensor and the second magnetic sensor in the magnetic characteristic space sequence>A plurality of;
in distance matrixIs->Starting from the point, proceeding continuously along the local shortest path, finally obtaining the DTW distance +.>：
(8)
Wherein,distance DTW->Is located at->Go->Components of the columns; />Is at the +.>Go->Components of the columns;
the DTW distanceFor measuring the similarity of two magnetic characteristic space sequences, and the distance between the similarity and DTWInversely proportional to the size of->The smaller the similarity is, the higher the similarity is; when->Equal to zero, it is stated that the two magnetic signature spatial sequences are identical.
5. A method for assisting in identifying a magnetic interference field using a dual magnetic sensor as defined in claim 4,in the step 5), an empirical threshold is setWhen->When no interference is considered to occur whenWhen an interfering magnetic field is present.
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