CN102313543A - Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method - Google Patents

Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method Download PDF

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CN102313543A
CN102313543A CN201110192080A CN201110192080A CN102313543A CN 102313543 A CN102313543 A CN 102313543A CN 201110192080 A CN201110192080 A CN 201110192080A CN 201110192080 A CN201110192080 A CN 201110192080A CN 102313543 A CN102313543 A CN 102313543A
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giant magneto
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CN102313543B (en
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付敬奇
郑学理
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University of Shanghai for Science and Technology
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Abstract

The invention discloses a magnetic azimuth measuring system based on a giant magneto-resistance sensor, a measuring method and a perpendicular compensation method so as to realize omnibearing measurement of a magnetic azimuth and reduce measurement error caused by non-orthogonal and zero deviation of a three-axis sensor. The measuring system comprises an earth three-axis magnetic measurement module, a three-axis attitude measurement module, a temperature measurement module, a microprocessor and an upper computer. The invention relates to the technical field of intelligent sensor technologies, digital signal processing and the like. The invention provides an intelligent octant judgment method based on a three-axis acceleration sensor against the multi-valued problem of azimuth measurement caused by a mathematical model when the giant magneto-resistance sensor is used for performing the azimuth measurement so as to realize the omnibearing angle measurement based on the giant magneto-resistance sensor. Simultaneously, the invention provides a three-axis orthogonal and zero compensation method which is completed in the microprocessor against the measurement error caused by the three-axis non-orthogonal and zero deviation of the giant magneto-resistance sensor so as to improve the measurement precision of the measuring system. In addition, the invention further has the characteristics of low development cost, simple hardware circuit and the like.

Description

Magnetic azimuth angle measuring system, measuring method and quadrature compensation method based on giant magneto-resistance sensor
Technical field
The present invention relates to a kind of magnetic azimuth angle measuring system based on giant magneto-resistance sensor and 3-axis acceleration sensor; And the comprehensive measurement implementation method of magnetic azinuth, particularly a kind of based on microprocessor to three axle quadratures of giant magneto-resistance sensor and zero compensation method.Belong to fields such as digital signal processing and intelligent sensor technology.
Background technology
Human constantly development, in the fields such as modern Aeronautics and Astronautics, navigation, geologic prospecting, marine surveys, directional technology is essential, and azimuthal measuring technique is more and more important.Present stage, common azimuth measuring method had: gyroscope, radio heading device, GPS and magnetic course transmitter.The gyroscope accuracy is high, good stability, but cost is high, complex structure, and navigation error accumulates in time, and need carry out quite complicated, careful initial alignment work.Radio heading device equipment is simple, but receives electromagnetic interference easily.Global Positioning System (GPS) GPS precision is high, can realize round-the-clock location, but have city Grand Canyon effect, can cause the GPS locate failure.The magnetic heading appearance is based on Magnetic Sensor and utilizes the terrestrial magnetic field to measure the course, and simple in structure, signal is prone to handle, cost is low, can directly record carrier and the angle in magnetic field.Usually, the geomagnetic sensor that is used for the magnetic heading appearance needs characteristics such as high sensitivity, high resolving power, low-power consumption.
Geomagnetic sensor commonly used at present can be classified as following several kinds:
1), the fluxgate type compass, are a kind of " geomagnetic sensor and azimuth calculation methods thereof " like patent 200610101789.5 CN1971309.In the fluxgate type compass, fluxgate sensor adopts the twin shaft metering system more, its inner inclinometer device complex structure that uses, and precision is limited, and dynamic property is relatively poor, is not suitable for the rapid movement object.
2), the reluctance type compass, the utilization magnetoresistive transducer is a measuring sensor, no-rotary part; The little dynamic property of size is good, but magnetoresistive element magnetoresistance effect commonly used has only 2%～3%, and resolution is not high enough; It is limited in magnetic survey, to show measuring accuracy, can't realize high-precision magnetic survey.
In the above-mentioned geomagnetic sensor; Ground magnet-sensitive element complex structure, low, the bad dynamic performance of resolution; If also there are error in the attitude data roll angle of equipment and the measurement of the angle of pitch in earth magnetism detects, bring very mistake will for azimuthal mensuration, reduce equipment precision.To the problems referred to above, the present invention proposes a kind of magnetic azimuth angle measuring system and method based on giant magneto-resistance sensor, the magnetic survey module has that volume is little, and cost is low, characteristics such as precision height.Simultaneously, adopt 3-axis acceleration sensor as system's attitude measurement module, when having overcome two axle acceleration sensors as the attitude measurement module, the non-monodrome problem of the roll angle and the angle of pitch, thus improved the magnetic azinuth measuring accuracy greatly.
Summary of the invention
The present invention is directed to the defective of prior art, propose a kind of magnetic azimuth angle measuring system, measuring method and quadrature compensation method based on giant magneto-resistance sensor.Utilize giant magneto-resistance sensor measure the terrestrial magnetic field more accurately with basis more reliably on, realize azimuthal uniqueness ins conjunction with 3-axis acceleration sensor, and nonopiate and zero drift compensates to three giant magnetoresistances output.
For achieving the above object, design of the present invention is:
System carries out attitude data when measuring, owing to be the sine relation of Sin between the output of acceleration transducer and the angle of pitch, the roll angle, during as the attitude measurement module, can occur the situation of the angle of pitch, the non-monodrome of roll angle at double-axel acceleration sensor.Simultaneously owing to be the tangent relationship of
Figure 2011101920801100002DEST_PATH_IMAGE001
between magnetic survey data, the angle of pitch and roll angle and the magnetic azinuth; The non-monodrome problem that in calculating, obviously can have magnetic azinuth has reduced the degree of accuracy of magnetic azimuth angular measurement.
Giant magneto-resistance sensor utilizes the magnetic detection simultaneously of three axial giant magneto-resistance sensors when carrying out magnetic survey.In design three axially on high-precision giant magneto-resistance sensor be difficult to avoid nonopiate phenomenon usually, can cause nonopiate error.Simultaneously, because there is different zero drifts in three giant magneto-resistance sensors on axially, these phenomenons will reduce the magnetic survey precision of giant magneto-resistance sensor greatly.
According to the foregoing invention design, the present invention adopts following technical method:
The comprehensive measuring system of a kind of magnetic azinuth based on giant magneto-resistance sensor is made up of power module, magnetic survey module, attitude measurement module, temperature-measuring module, microprocessor and host computer.It is characterized in that said power module is that system provides 3.3V stabilized power source; Said magnetic survey module comprises the signal processing circuit on X axle, Y axle and Z axle giant magneto-resistance sensor and corresponding every; Said attitude measurement module comprises mutually orthogonal X, Y, Z 3-axis acceleration sensor; Said magnetic survey module is connected to microprocessor A/D thief hatch; Said attitude measurement module and temperature-measuring module are connected to the digital I of microprocessor respectively; Said microprocessor is connected to host computer through the RS232 mouth.
Said power supply mould adopts voltage transitions chip 1117; Said magnetic survey module adopts three giant magneto-resistance sensor AAH002-02 to connect the RC low-pass filter circuit and appearance is used amplifier INA118; Said attitude measurement module adopts 3-axis acceleration sensor ADXL345; Said temperature-measuring module adopts temperature sensor DSB18B20; Said microprocessor adopts microprocessor MSP430F149, after magnetic information, pitching information and temperature information carry out pre-service over the ground, through obtaining magnetic azinuth after the host computer processing.
A kind of based on giant magneto-resistance sensor magnetic azimuth angle measuring method, adopt above-mentioned measuring system to detect, its concrete steps that realize the comprehensive measurement in position angle are following:
(1) system initialization comprises communication initialization between microprocessor and host computer, temperature sensor, the 3-axis acceleration sensor, interrupts initialization;
(2) microprocessor is gathered the magnetic field data of X axle, Y axle, Z axle; The system temperature data
And three of acceleration transducers are axially gone up gravitational acceleration component Ax, Ay, Az;
(3) utilize the attitude information of geomagnetic field component and 3-axis acceleration sensor; Calculate the angle of pitch
Figure 2011101920801100002DEST_PATH_IMAGE003
and roll angle
Figure 477847DEST_PATH_IMAGE004
, through model
Figure 2011101920801100002DEST_PATH_IMAGE005
Carrying out the position angle calculates.According attitude information
Figure 598118DEST_PATH_IMAGE003
and
Figure 266997DEST_PATH_IMAGE004
and the azimuthal magnetic field data The full judgment.
(4) the unique position angle
Figure 970867DEST_PATH_IMAGE006
of output monodrome.
In the said step (3), the concrete steps of the comprehensive judgement at realization position angle are following:
Figure 2011101920801100002DEST_PATH_IMAGE007
is according to the individual axis acceleration measuring principle; Through handling three axial output signals of acceleration transducer ADL345, obtain three axial gravitational acceleration component Ax, Ay, Az.By formula
Figure 434526DEST_PATH_IMAGE008
Figure 2011101920801100002DEST_PATH_IMAGE009
and
Figure 785742DEST_PATH_IMAGE010
,
Figure 2011101920801100002DEST_PATH_IMAGE011
calculates attitude angle.Through size and the positive and negative combination distinguishing that carries out, realize the angle of pitch and the comprehensive judgement of roll angle
Figure 505754DEST_PATH_IMAGE004
to Ax, Ay, Az;
Figure 883645DEST_PATH_IMAGE012
microprocessor through to Ax, Ay, Az greater than 0, less than 0, equal 0, equal g, equal-these 5 kinds of situation of g carry out combination distinguishing, finally realize the angle of pitch
Figure 172806DEST_PATH_IMAGE003
and the comprehensive judgement of roll angle
Figure 636149DEST_PATH_IMAGE004
;
Figure 2011101920801100002DEST_PATH_IMAGE013
calculates magnetic component
Figure 918226DEST_PATH_IMAGE014
flatly according to attitude data; Make
Figure 2011101920801100002DEST_PATH_IMAGE015
;
Figure 603154DEST_PATH_IMAGE016
; After with
Figure 2011101920801100002DEST_PATH_IMAGE017
position angle
Figure 109221DEST_PATH_IMAGE018
being divided into 4 quadrants; Through the size that compares
Figure 263122DEST_PATH_IMAGE014
; Reach judge
Figure 145627DEST_PATH_IMAGE014
positive and negative, confirm the occurrence of position angle
Figure 186527DEST_PATH_IMAGE018
.
A kind of magnetic azimuth angular measurement quadrature compensation method based on giant magneto-resistance sensor; To three axial nonopiate and zero drift problems in the geomagnetic field measuring unit; Three quadratures and zero compensation concrete grammar based on microprocessor are it is characterized in that: the magnetic field amount that three of definition giant magneto-resistance sensors are axially gone up actual coordinate ox3y3z3 and ideal coordinates OX3Y3Z3 output is respectively
Figure 2011101920801100002DEST_PATH_IMAGE019
and
Figure 801179DEST_PATH_IMAGE002
; The angle of oy3 and its projection on face OY3Z3 is , and the angle of its projection and OY3 is
Figure 2011101920801100002DEST_PATH_IMAGE021
; The angle of oz3 and its projection on face OX3Z3 is , and the angle of its projection and OZ3 is
Figure 2011101920801100002DEST_PATH_IMAGE023
; Make the error of zero on three of the giant magneto-resistance sensors be respectively ; Definition
Figure 2011101920801100002DEST_PATH_IMAGE025
can be respectively the actual and desirable magnetic field value of exporting and zero vector form of value partially.Then can pass through system of equations
Figure 58799DEST_PATH_IMAGE026
Figure 2011101920801100002DEST_PATH_IMAGE027
Figure 984030DEST_PATH_IMAGE028
After repeatedly demarcating, calculate 4 angle values and 3 error of zero values in the above-mentioned model, then compensation matrix is write microprocessor, can obtain desirable orthogonal measuring value.
The present invention compared with prior art has following advantage and good effect:
(1) giant magneto-resistance sensor has improved measurement sensitivity and systemic resolution greatly as the magnetic-field measurement unit.
(2) adopt 3-axis acceleration sensor as the attitude measurement unit, realized the monodrome characteristic under roll angle and the angle of pitch combination in any, guarantee that system's output position angle monodrome is unique.
(3) in microprocessor, realize quadrature and zero compensation, improved the reliability of measurement result.
(4) system has temperature measurement unit, and the temperature compensated system that makes is applicable to wider temperature range.
(5) cost is low, and is low in energy consumption.
Description of drawings
Fig. 1 is based on the magnetic azimuth angle measuring system structured flowchart of giant magneto-resistance sensor.
Fig. 2 is the process flow diagram that magnetic azinuth is realized.
Fig. 3 is that the quadrant of the angle of pitch and roll angle uniqueness among Fig. 2 is differentiated process flow diagram.
Fig. 4 is that the quadrant of magnetic azinuth uniqueness among Fig. 2 is differentiated process flow diagram.
Fig. 5 is three quadrature error figure of giant magneto-resistance sensor.
Fig. 6 is three quadratures and zero compensation scheme flow process.
Embodiment
The preferred embodiments of the present invention accompanying drawings is following:
Embodiment one:
Referring to Fig. 1, this is made up of power module (1), magnetic survey module (2), attitude measurement module (3), temperature-measuring module (4), microprocessor (5) and host computer (6) based on the magnetic azimuth angle measuring system of giant magneto-resistance sensor.Said power module (1) provides 3.3V stabilized power source for system; Said magnetic survey module (2) comprises the signal processing circuit on X axle, Y axle and Z axle giant magneto-resistance sensor and corresponding every; Said attitude measurement module (3) comprises mutually orthogonal X, Y, Z 3-axis acceleration sensor; Said magnetic survey module (2) is connected to microprocessor (5) A/D thief hatch; Said attitude measurement module (3) and temperature-measuring module (4) are connected to the digital I of microprocessor (5) respectively; Said microprocessor (5) is connected to host computer (6) through the RS232 mouth.
Embodiment two:
Present embodiment and embodiment one are basic identical, and special feature is: said power module (1) adopts voltage transitions chip 1117; Said magnetic survey module (2) adopts three giant magneto-resistance sensor AAH002-02 to connect the RC low-pass filter circuit and appearance is used amplifier INA118; Said attitude measurement module (3) adopts 3-axis acceleration sensor ADXL345; Said temperature-measuring module (4) adopts temperature sensor DSB18B20; Said microprocessor (5) adopts microprocessor MSP430F149, after magnetic information, pitching information and temperature information carry out pre-service over the ground, through obtaining magnetic azinuth after host computer (6) processing.
Embodiment three:
This adopts above-mentioned measuring system based on the magnetic azimuth angle measuring method of giant magneto-resistance sensor.
Magnetic azimuth angular measurement flow process is as shown in Figure 2; The monodrome implementation procedure of the roll angle and the angle of pitch was carried out the refinement description during Fig. 3 resolved to step 3 position angle among Fig. 2, and azimuthal monodrome implementation procedure was carried out the refinement description during Fig. 4 resolved to step 3 position angle among Fig. 2.The concrete steps of native system magnetic azimuth angular measurement are following:
(1) like Fig. 2 flow process 1 system initialization;
(2) like Fig. 2 flow process 2 pick-up transducers data.Comprise: geomagnetic data
Figure 146021DEST_PATH_IMAGE002
; Attitude data Ax, Ay, Az, temperature data T;
(3) resolve magnetic azinuth like Fig. 2 flow process 3, comprising:
Figure 2011101920801100002DEST_PATH_IMAGE029
Figure 3 to obtain a single value only pitch angle and roll angle
Figure 944399DEST_PATH_IMAGE004
Flow process 1 reading of data Ax, Ay, Az
Flow process 2 is brought Ax, Ay into equality
Figure DEST_PATH_IMAGE031
respectively and is calculated
Pitch angle
Figure 29029DEST_PATH_IMAGE003
and roll angle
Figure 57028DEST_PATH_IMAGE004
;
Flow process 3 is as
Figure 921167DEST_PATH_IMAGE032
Flow process 4 is as
Figure DEST_PATH_IMAGE033
Flow process 5 is as
Figure 314102DEST_PATH_IMAGE034
Flow process 6 is as
Figure DEST_PATH_IMAGE035
Flow process 7 is as
Figure 400876DEST_PATH_IMAGE036
Flow process 8 is as
Figure DEST_PATH_IMAGE037
Flow process 9 is as
Flow process 10 is as
Figure DEST_PATH_IMAGE039
Flow process 11 is as
Flow process 12 is as
Figure DEST_PATH_IMAGE041
Flow process 13 is as
Figure 255327DEST_PATH_IMAGE042
Flow process 14 is as
Figure DEST_PATH_IMAGE043
Figure 314550DEST_PATH_IMAGE012
Figure 4 to obtain a single value only geomagnetic azimuth
Figure 684352DEST_PATH_IMAGE006
Flow process 1 reads earth magnetism and attitude data
Flow process 2 is calculated geomagnetism horizontal component
Figure 840527DEST_PATH_IMAGE044
Figure 824532DEST_PATH_IMAGE045
Figure 371051DEST_PATH_IMAGE046
Order,
Figure DEST_PATH_IMAGE047
Flow process 3
Figure 278964DEST_PATH_IMAGE048
Flow process 4
Figure DEST_PATH_IMAGE049
Flow process 5
Figure 978061DEST_PATH_IMAGE050
Flow process 6
Figure DEST_PATH_IMAGE051
(4) like Fig. 2 flow process 4, output position angle .
 
Embodiment four:
To above-mentioned measuring system, following based on three quadratures and the zero compensation method of microprocessor:
Referring to Figure 5, the definition of giant magnetoresistive sensor triaxial
Figure 979832DEST_PATH_IMAGE052
Output field value
Figure DEST_PATH_IMAGE053
Figure 878387DEST_PATH_IMAGE054
Figure DEST_PATH_IMAGE055
axis zero position error of
Figure 946837DEST_PATH_IMAGE024
; ideal orthogonal axes Output magnetic volume
Figure 91959DEST_PATH_IMAGE002
; make
Figure DEST_PATH_IMAGE057
axis and
Figure 607254DEST_PATH_IMAGE058
axis coincides,
Figure DEST_PATH_IMAGE059
axis and
Figure 530210DEST_PATH_IMAGE060
plane angle
Figure 26919DEST_PATH_IMAGE020
,
Figure DEST_PATH_IMAGE061
axis in the plane
Figure 832064DEST_PATH_IMAGE060
and Projection
Figure 823154DEST_PATH_IMAGE062
the angle
Figure 283174DEST_PATH_IMAGE021
;
Figure DEST_PATH_IMAGE063
axis and
Figure 950784DEST_PATH_IMAGE064
plane angle
Figure 508804DEST_PATH_IMAGE022
,
Figure 38006DEST_PATH_IMAGE063
axis in the plane
Figure 686287DEST_PATH_IMAGE064
and Projection
Figure DEST_PATH_IMAGE065
the angle
Figure 275531DEST_PATH_IMAGE023
; then:
Figure 242219DEST_PATH_IMAGE026
Figure 451801DEST_PATH_IMAGE028
Make
Figure 211946DEST_PATH_IMAGE066
;
Figure DEST_PATH_IMAGE067
,
Figure 167395DEST_PATH_IMAGE068
Figure DEST_PATH_IMAGE069
Then
Figure 303978DEST_PATH_IMAGE070
; Make
Figure DEST_PATH_IMAGE071
; Compensation matrix is write microprocessor; Can in microprocessor, calculate desirable orthogonal measuring value
Figure 159808DEST_PATH_IMAGE002
, thereby improve position angle
Figure 153172DEST_PATH_IMAGE006
measuring accuracy.
As shown in Figure 6, it is following that three quadratures of this measuring system and zero compensation method are demarcated flow process:
Flow process 1 installs and measures system by Fig. 5 requirement on calibrating table;
Flow process 2 is added magnetic field at
Figure 907501DEST_PATH_IMAGE056
on three on request
Flow process 3 record sensor output ground magnetic values
Flow process 4 repeats flow process 2 and has 7 times (in specialized range, changing magnetic field intensity) altogether with flow process 3 at every turn, calculates 4 angles and 3 zero drifts according to formula
Figure 371160DEST_PATH_IMAGE070
;
Flow process repeats 5 pairs of 4 angles of flow process 4 flow processs more than 5 time and 3 zero drifts are made even all;
Flow process 7 output compensation model A, the B matrix.

Claims (5)

1. magnetic azimuth angle measuring system based on giant magneto-resistance sensor; Form by power module (1), magnetic survey module (2), attitude measurement module (3), temperature-measuring module (4), microprocessor (5) and host computer (6); It is characterized in that said power module (1) provides 3.3V stabilized power source for system; Said magnetic survey module (2) comprises the signal processing circuit on X axle, Y axle and Z axle giant magneto-resistance sensor and corresponding every; Said attitude measurement module (3) comprises mutually orthogonal X, Y, Z 3-axis acceleration sensor; Said magnetic survey module (2) is connected to microprocessor (5) A/D thief hatch; Said attitude measurement module (3) and temperature-measuring module (4) are connected to the digital I of microprocessor (5) respectively; Said microprocessor (5) is connected to host computer (6) through the RS232 mouth.
2. the magnetic azimuth angle measuring system based on giant magneto-resistance sensor according to claim 1 is characterized in that said power module (1) adopts voltage transitions chip 1117; Said magnetic survey module (2) adopts three giant magneto-resistance sensor AAH002-02 to connect the RC low-pass filter circuit and appearance is used amplifier INA118; Said attitude measurement module (3) adopts 3-axis acceleration sensor ADXL345; Said temperature-measuring module (4) adopts temperature sensor DSB18B20; Said microprocessor (5) adopts microprocessor MSP430F149, after magnetic information, pitching information and temperature information carry out pre-service over the ground, through obtaining magnetic azinuth after host computer (6) processing.
3. the magnetic azimuth angle measuring method based on giant magneto-resistance sensor adopts the comprehensive measuring system of the described magnetic azinuth of claim 1 to measure, and it is characterized in that the concrete operations step is following:
(1) system initialization;
(2) data acquisition; Gather the magnetic-field component
Figure 2011101920801100001DEST_PATH_IMAGE001
on three of X, Y, Z of terrestrial magnetic field in the magnetic survey module, the temperature data in component of acceleration Ax, Ay, Az and the temperature-measuring module on three of the X in the attitude measurement module, Y, Z;
(3) utilize attitude data to calculate the unique angle of pitch of monodrome
Figure 2011101920801100001DEST_PATH_IMAGE002
and roll angle
Figure 2011101920801100001DEST_PATH_IMAGE003
; And combining geomagnetic data , through type
Figure 2011101920801100001DEST_PATH_IMAGE004
carries out the comprehensive calculating of magnetic azinuth
Figure 2011101920801100001DEST_PATH_IMAGE005
;
(4) output magnetic azinuth
Figure 564567DEST_PATH_IMAGE005
.
4. the magnetic azimuth angle measuring method based on giant magneto-resistance sensor according to claim 3; It is characterized in that in the said step (3); Comprehensive judgement need be carried out in position angle
Figure 344304DEST_PATH_IMAGE005
, and concrete steps are following:
Figure 2011101920801100001DEST_PATH_IMAGE006
microprocessor (5) measured by the three-axis acceleration sensor is an acceleration component Ax?, Ay into equation
Figure 2011101920801100001DEST_PATH_IMAGE007
calculated pitch angle
Figure 422070DEST_PATH_IMAGE002
and roll angle
Figure 174125DEST_PATH_IMAGE003
;
Figure 2011101920801100001DEST_PATH_IMAGE008
microprocessor (5) through to Ax, Ay, Az greater than 0, less than 0, equal 0, equal g, equal-these 5 kinds of situation of g carry out combination distinguishing, finally realize the angle of pitch
Figure 183538DEST_PATH_IMAGE002
and the comprehensive judgement of roll angle
Figure 450572DEST_PATH_IMAGE003
;
Figure 2011101920801100001DEST_PATH_IMAGE009
define the horizontal component of the geomagnetic , under the attitude matrix and step
Figure 587155DEST_PATH_IMAGE008
derived pitch angle
Figure 944449DEST_PATH_IMAGE002
and roll angle
Figure 937813DEST_PATH_IMAGE003
, solved
Figure 692142DEST_PATH_IMAGE010
; make
Figure 2011101920801100001DEST_PATH_IMAGE011
by the following discriminant achieve azimuth
Figure 366837DEST_PATH_IMAGE005
The full judgment.
Figure 2011101920801100001DEST_PATH_IMAGE012
Figure 2011101920801100001DEST_PATH_IMAGE013
Figure 2011101920801100001DEST_PATH_IMAGE014
Figure 2011101920801100001DEST_PATH_IMAGE015
5. measurement of azimuth quadrature compensation method based on giant magneto-resistance sensor; Nonopiate and have a problem of zero drift to three of giant magneto-resistance sensors in the module of magnetic survey described in the claim 1 (1); Propose a kind of three quadratures and zero compensation method, it is characterized in that based on microprocessor:
The magnetic field amount that three of definition giant magneto-resistance sensors are axially gone up actual coordinate ox3y3z3 and ideal coordinates OX3Y3Z3 output is respectively
Figure 2011101920801100001DEST_PATH_IMAGE016
and
Figure 14856DEST_PATH_IMAGE001
; The angle of oy3 and its projection on face OY3Z3 is
Figure 2011101920801100001DEST_PATH_IMAGE017
; The angle of its projection and OY3 is
Figure 2011101920801100001DEST_PATH_IMAGE018
; The angle of oz3 and its projection on face OX3Z3 is
Figure 2011101920801100001DEST_PATH_IMAGE019
; The angle of its projection and OZ3 is
Figure 2011101920801100001DEST_PATH_IMAGE020
; Make the error of zero on three of the giant magneto-resistance sensors be respectively
Figure 2011101920801100001DEST_PATH_IMAGE021
; Definition
Figure 2011101920801100001DEST_PATH_IMAGE022
can be respectively the actual and desirable magnetic field value of exporting and zero vector form of value partially, can get:
Figure 2011101920801100001DEST_PATH_IMAGE024
Figure 2011101920801100001DEST_PATH_IMAGE025
Wherein, make
Figure 2011101920801100001DEST_PATH_IMAGE026
Figure 2011101920801100001DEST_PATH_IMAGE027
then arranged; So can calculate three quadratures and zero compensation model
Figure DEST_PATH_IMAGE028
Its concrete steps are following:
(1) on the calibrating table after repeatedly demarcating, calculate compensation matrix
Figure DEST_PATH_IMAGE029
;
(2) model
Figure 821532DEST_PATH_IMAGE028
calculating is write in the microprocessor;
(3) each measurement data
Figure 63157DEST_PATH_IMAGE016
is exported magnetic data
Figure 168702DEST_PATH_IMAGE001
ideally after model
Figure 338281DEST_PATH_IMAGE028
is handled in microprocessor.
CN 201110192080 2011-07-11 2011-07-11 Magnetic azimuth measuring system based on giant magneto-resistance sensor, measurement method and perpendicular compensation method Expired - Fee Related CN102313543B (en)

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