CN104820248A - Ship-borne magnetic force detection method and device - Google Patents
Ship-borne magnetic force detection method and device Download PDFInfo
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- CN104820248A CN104820248A CN201510216302.7A CN201510216302A CN104820248A CN 104820248 A CN104820248 A CN 104820248A CN 201510216302 A CN201510216302 A CN 201510216302A CN 104820248 A CN104820248 A CN 104820248A
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Abstract
The invention discloses a ship-borne magnetic force detection device which is installed on the ship body of a measuring ship without a stern drag part. The ship-borne magnetic force detection device comprises a vector magnetic force sensor, a heading attitude reference system, a GPS, a peripheral sensor, a data acquisition fusion unit and a data recording computer. The ship-borne magnetic force detection method comprises the following steps that (1) when a research voyage number starts and ends, a magnetic field calm sea area is selected and a ship magnetic calibration test is performed by a research ship; (2) the data acquisition fusion unit synchronously acquires magnetic force data and attitude data in the ship magnetic calibration test; (3) after the ship magnetic calibration test, a ship induced magnetic field coefficient, a permanent magnetic field coefficient value and an eddy current magnetic field coefficient are obtained by data acquisition software via calculation according to the following resolving process; and (4) after the ship magnetic calibration test, ship-borne magnetic force measurement is performed. Advantages of the ship-borne magnetic force detection method and device are that defects that a conventional drag type magnetometer is liable to be lost and damaged can be overcome, all-weather and all-voyage-number unattended magnetic force observation can be realized, and earth magnetic field vector measurement can also be provided.
Description
Technical field
The present invention relates to a kind of boat-carrying magnetic survey method and apparatus, belong to technical field of geophysical exploration.
Background technology
The magnetic field existed around the earth is called terrestrial magnetic field.Geomagnetic fieldvector on ocean surface any point is used
represent, then the geomagnetic fieldvector of this point
projection in rectangular coordinate system on three axles is respectively north component X, east component Y and vertical component Z; Geomagnetic fieldvector
horizontal component H is projected as in surface level; Geomagnetic fieldvector
and the angle between surface level is inclination obliquity I; Be declination D by the vertical plane in this H direction and the angle of geographical meridian ellipse.
, Z, X, Y, H, I and D each amount be all the physical quantity representing this terrestrial magnetic field size and Orientation feature, be called magnetic element.
Marine geomagnetic field measurement normally carries magnetometer by ship and rides the sea and the process of carrying out magnetic survey.Current most of marine magnetic survey is all geomagnetic total field scalar measurement, only can record in magnetic element
modulus T.Terrestrial magnetic field is vector field, and the measurement of the geomagnetic field elements such as Z, X, Y, H can obtain the directional information in magnetic field, can reflect more magnetic body structure than total field measurement.
On the other hand, the total field measurement in general ocean can only use towing mode to work, and magnetic probe pulls in the seawater after research ship, and towing cable length is greater than 3 times of captain.This operating type is easily restricted in some sea areas, as seawater fishery district, sea-ice field, polar region etc., the damage of magnetic probe can be caused even to lose.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, a kind of boat-carrying magnetic survey method is provided, marine magnetic survey efficiency can be improved, provide geomagnetic fieldvector to measure, break through the restriction in work sea area.
Another object of the present invention is to provide a kind of boat-carrying magnetic survey device.
Boat-carrying magnetic survey device of the present invention is arranged on surveying vessel hull, but not pulls in stern, comprises vector magnetic force snesor, course attitude reference system, GPS, peripheral sensor, data acquisition integrated unit, data logging computers.
Described vector magnetic force snesor is fluxgate magnetometric sensor, for single or multiple, for measuring magnetic field of the earth X, Y, Z tri-components.
Preferably, vector magnetic force snesor is the Dual Mag tri-axis fluxgate magnetometer that Magson company produces.Vector magnetic force snesor on hull, should balance consider following factor: (1) as far as possible away from (higher than) ship outer casing, to weaken hull magnetic interference; (2) probe is avoided to install too high and produce shake, to weaken high dither noise; (3) marine inertia navigational system is as far as possible near vector magnetic force snesor, to weaken high frequency noise.
Preferably, if there is two or more vector magnetic force snesor, should install by the arrangement of research ship long axis direction.
Described course attitude reference system, for measuring investigation stem to, roll angle and trim angle parameter, to resolve the earth magnetism three component seismic data under ship coordinate system in terrestrial coordinate.
Preferably, course attitude reference system is the OCTANS3000 that IXSEA Corp. produces.
Described peripheral sensor comprises temperature sensor, obliquity sensor, pressure transducer etc.
Described GPS has location and time service function, for providing research ship positional information and carrying out high precision time service to magnetic survey device.
Described data acquisition integrated unit, comprises multi-channel data acquisition board, high precision clock, data recorder, power management module, high precision clock with GPS time service pulse for time-base signal, for data collecting card provides clock.Data collecting card synchronous acquisition vector magnetic force snesor, course attitude reference system, peripheral sensor data, be sent to data recorder by all data packings and store.The data that data recorder storage data collecting card sends over also are exported by RS232/485 port.
Described data acquisition integrated unit, gathers vector magnetic force snesor, peripheral sensor data, and course attitude reference system is unified gps data, and by all data packing records with export.
Described data logging computers, for receiving data acquisition integrated unit data, records data, processes and monitors.
Boat-carrying magnetic survey method of the present invention, comprises the steps:
(1) investigation flight number start and at the end of, choose tranquil sea area, magnetic field, research ship carries out ship magnetic rating test;
Preferably, after in ship magnetic rating test, research ship navigates by water by the figure of eight or the compulsory exercise of " O " font with radius 1.8km, ship's speed 5-7kn; Too small navigation radius can increase alist angle; Excessive navigation radius is then more big changes in magnetic field, test site, and becomes dry magnetic force day and disturb and also can strengthen;
(2) data acquisition integrated unit synchronous acquisition magnetic data and attitude data in ship magnetic rating test; This point is of crucial importance, and the collection deviation of both 1 second time can cause the error of hundreds of nT, by the reference signal of GPS time service pulse as triggering collection, ensures the synchronization accuracy of magnetic data and attitude data;
(3), after ship magnetic rating test, data acquisition software obtains ship induced field coefficient by the following workflow management that resolves
, permanent-magnetic field coefficient value
with eddy current magnetism coefficient; It is as described below that ship magnetic calibration coefficient resolves flow process:
1) first ignore the impact of eddy current magnetism, by ship magnetic rating test more than 12 experimental observations
substitute into formula 1 respectively, obtain 12 linear equations;
(formula 1)
2) least square method is used to resolve 9 induced field coefficient A and 3 permanent-magnetic field COEFFICIENT K
s;
3) these 12 coefficients are substituted into formula 1, the theoretical magnetic field of forward modelling;
4) the theoretical magnetic field of forward modelling is deducted by magnetic force measured data.Obtain remnant field;
5) impact of eddy current magnetism is considered, by 9 actual observed values
substitute into formula 2 respectively, obtain 9 linear equations;
(formula 2)
6) least square method is used to resolve 9 eddy current magnetism coefficient C;
(4) after carrying out ship magnetic rating test, boat-carrying mgnetic observations are carried out; The magnetic data that vector magnetic force snesor obtains by data acquisition integrated unit
be sent to data logging computers, data acquisition software calculates the magnetic vector data after the correction of ship magnetic compensation in real time according to formula 2
; Finally carry out coordinate system transformation, by the geomagnetic fieldvector under ship coordinate system
be transformed to the geomagnetic fieldvector under earth coordinates
, transformation relation is between the two shown in formula 3:
(formula 3)
In formula, D is the transformation matrix between geographic coordinate system and hull coordinate system, and the bow recorded by course attitude reference system calculates to angle α, roll angle β and trim angle γ and obtains, and its expression formula is as follows:
。
Advantage of the present invention is mounted on scientific investigation ship, overcomes the shortcoming that traditional pull-type magnetometer is easily lost and damaged, and from the impact of sea ice, culture zone, can realize unmanned magnetic observation by round-the-clock, full flight number; And geomagnetic fieldvector can be provided to measure.
Accompanying drawing explanation
Fig. 1 is boat-carrying magnetic survey device the general frame.
Fig. 2 is data acquisition integrated unit structural representation.
Fig. 3 is that ship magnetic calibration coefficient resolves flow process.
Embodiment
In order to make technical scheme of the present invention clearly, below in conjunction with the drawings and specific embodiments the present invention being done and further elaborating.Obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Using China's " No. one, ocean " research ship as the carrier of boat-carrying mgnetic observations device, this ship per year over 200 days in the whole world each ocean carry out scientific investigation.Between the probation of annual ocean, sea gravimeter whole process is measured, and pull-type marine magnetometer only can be measured within the limited time.At " No. one, ocean " research ship, boat-carrying mgnetic observations device is installed, can omnidistance operator-less businessization run, synchronous working with sea gravimeter and obtain omnidistance gravity, magnetic data, roll up the basic geomagnetic data in these regions, improve geologic geophysical investigation and research level.
Select Canadian Magson company Dual Mag vector magnetic force snesor, two sensors are arranged on ship deckhead.Two equal alongside-ports of sensor are installed, and two sensors and ship axis parallel arrange, spacing 20m.
The OCTANS3000 selecting French IXSEA Corp. to produce is as navigating by water attitude reference system, course angle precision 0.05 °, trim/roll angle precision 0.01 °.
Data acquisition integrated unit, comprises multi-channel data acquisition board, high precision clock, data recorder, power management module.High precision clock with GPS time service pulse for time-base signal, for data collecting card provides clock.Data collecting card synchronous acquisition vector magnetic force snesor, course attitude reference system, peripheral sensor data, be sent to data recorder by all data packings and store.The data sended over are outputted to data logging computers by RS232/485 port by data recorder simultaneously.
Data acquisition integrated unit is installed on bridge, and above-mentioned two vector magnetic force sensor signals, navigation attitude reference system signal, the equal access data of gps signal are gathered integrated unit.Data acquisition integrated unit by after above-mentioned signal fused through RS232/485 serial transmission to data logging computers.
Data logging computers is installed on Geophysical Experiment room, installs boat-carrying magnetic data acquisition software in computing machine.
The process that boat-carrying magnetic means of the present invention carries out geomagnetic fieldvector measurement is as follows:
Research ship term of voyage, at interval of about doing a ship magnetic rating test Dec; Ship magnetic rating test selection of time morning or dusk, avoid strong geomagnetic diurnal variations; Ship magnetic rating test should carry out in tranquil sea area in terrestrial magnetic field, measures the theoretical magnetic vector in sea area; In ship magnetic rating test, research ship is with 1.8km radius by after " O " font compulsory exercise navigation, and ship's speed 5-7kn, obtains a series of terrestrial magnetic field, test site experimental observation
; After ship magnetic rating test, data acquisition software can obtain ship induced field coefficient by following flow process of resolving
, permanent-magnetic field coefficient value
with eddy current magnetism coefficient.
Ship magnetic calibration coefficient resolves flow process as shown in Figure 3:
1) first ignore the impact of eddy current magnetism, by ship magnetic rating test more than 12 experimental observations
substitute into formula 1 respectively, obtain 12 linear equations;
(formula 1)
2) least square method is used to resolve 9 induced field coefficient A and 3 permanent-magnetic field COEFFICIENT K
s;
3) these 12 coefficients are substituted into formula 1, the theoretical magnetic field of forward modelling;
4) the theoretical magnetic field of forward modelling is deducted by magnetic force measured data.Obtain remnant field;
5) impact of eddy current magnetism is considered, by 9 actual observed values
substitute into formula 2 respectively, obtain 9 linear equations;
(formula 2)
6) least square method is used to resolve 9 eddy current magnetism coefficient C;
After ship magnetic rating test, carry out boat-carrying mgnetic observations.The magnetic data that vector magnetic force snesor obtains by data acquisition integrated unit
be sent to data logging computers, data acquisition software can calculate the magnetic vector data after the correction of ship magnetic compensation in real time according to formula 2
.
Finally carry out coordinate system transformation, by the geomagnetic fieldvector under ship coordinate system
be transformed to the geomagnetic fieldvector under earth coordinates
.Transformation relation is between the two shown in formula 3:
(formula 3)
In formula, D is the transformation matrix between geographic coordinate system and hull coordinate system, and the bow recorded by course attitude reference system calculates to angle α, roll angle β and trim angle γ and obtains, and its expression formula is as follows:
data acquisition software is real-time calculating magnetic field vector data as stated above
, simultaneously right
record and show.
The present invention is only described with above-described embodiment; the structure of each parts, setting and connecting all can change to some extent; on the basis of technical solution of the present invention; all improvement of carrying out individual part according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (7)
1. a boat-carrying magnetic survey device, it is characterized in that described sniffer is arranged on surveying vessel hull, there is no stern towing part, comprise vector magnetic force snesor, course attitude reference system, GPS, peripheral sensor, data acquisition integrated unit, data logging computers; The described vector magnetic force snesor for measuring magnetic field of the earth X, Y, Z tri-components is fluxgate magnetometric sensor, for single or multiple; Described course attitude reference system, for measuring investigation stem to, roll angle and trim angle parameter, to resolve in terrestrial coordinate by the earth magnetism three component seismic data under ship coordinate system; Described GPS has location and time service function, for providing research ship positional information and carrying out high precision time service to magnetic survey device; Described data acquisition integrated unit, comprises multi-channel data acquisition board, high precision clock, data recorder, power management module, high precision clock with GPS time service pulse for time-base signal, for data collecting card provides clock; Described data collecting card synchronous acquisition vector magnetic force snesor, course attitude reference system, peripheral sensor data, be sent to data recorder by all data packings and store; The data that data recorder storage data collecting card sends over also are exported by RS232/485 port; Described data acquisition integrated unit, gathers vector magnetic force snesor, peripheral sensor data, and course attitude reference system is unified gps data, and by all data packing records with export; Described data logging computers, for receiving data acquisition integrated unit data, records data, processes and monitors.
2. boat-carrying magnetic survey device according to claim 1, is characterized in that described vector magnetic force snesor is single or multiple.
3. boat-carrying magnetic survey device according to claim 1 and 2, is characterized in that described vector magnetic force snesor is the Dual Mag tri-axis fluxgate magnetometer that Magson company produces.
4. boat-carrying magnetic survey device according to claim 1, is characterized in that described course attitude reference system is the OCTANS3000 that IXSEA Corp. produces.
5. boat-carrying magnetic survey device according to claim 1, is characterized in that described peripheral sensor comprises temperature sensor, obliquity sensor, pressure transducer.
6. a boat-carrying magnetic survey method, is characterized in that comprising the following steps:
(1) investigation flight number start and at the end of, choose tranquil sea area, magnetic field, research ship carries out ship magnetic rating test;
(2) data acquisition integrated unit synchronous acquisition magnetic data and attitude data in ship magnetic rating test;
(3), after ship magnetic rating test, data acquisition software obtains ship induced field coefficient by the following workflow management that resolves
, permanent-magnetic field coefficient value
with eddy current magnetism coefficient;
(4) after carrying out ship magnetic rating test, boat-carrying mgnetic observations are carried out; The magnetic data that vector magnetic force snesor obtains by data acquisition integrated unit
be sent to data logging computers, data acquisition software calculates the magnetic vector data after the correction of ship magnetic compensation in real time
; Finally carry out coordinate system transformation, by the geomagnetic fieldvector under ship coordinate system
be transformed to the geomagnetic fieldvector under earth coordinates
, transformation relation is between the two shown in formula 3:
(formula 3)
In formula, D is the transformation matrix between geographic coordinate system and hull coordinate system, and the bow recorded by course attitude reference system calculates to angle α, roll angle β and trim angle γ and obtains, and its expression formula is as follows:
。
7. boat-carrying magnetic survey method according to claim 6, is characterized in that described ship magnetic calibration coefficient resolves flow process as described below:
1) first ignore the impact of eddy current magnetism, by ship magnetic rating test more than 12 experimental observations
substitute into formula 1 respectively, obtain 12 linear equations;
(formula 1)
2) least square method is used to resolve 9 induced field coefficient A and 3 permanent-magnetic field COEFFICIENT K
s;
3) these 12 coefficients are substituted into formula 1, the theoretical magnetic field of forward modelling;
4) the theoretical magnetic field of forward modelling is deducted by magnetic force measured data;
Obtain remnant field;
5) impact of eddy current magnetism is considered, by 9 actual observed values
substitute into formula 2 respectively, obtain 9 linear equations;
(formula 2);
6) least square method is used to resolve 9 eddy current magnetism coefficient C.
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| CN106197174A (en) * | 2016-08-24 | 2016-12-07 | 易文俊 | The adaptability analysis method of bullet application in a kind of missile-borne magnetic assembled gesture measurement apparatus |
| CN106950516A (en) * | 2017-03-24 | 2017-07-14 | 中国科学院上海微系统与信息技术研究所 | A kind of weak swirl magnetic field measuring device and method |
| CN108828471A (en) * | 2018-06-11 | 2018-11-16 | 中国科学院地质与地球物理研究所 | A kind of multi -components seabed Measurement Method for Magnetic Field and device |
| CN109839877A (en) * | 2019-03-03 | 2019-06-04 | 上海卯瑞船舶设备有限公司 | A kind of monitoring device remotely managed for ship and its application method |
| CN110658482A (en) * | 2019-09-10 | 2020-01-07 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN111123173A (en) * | 2019-12-10 | 2020-05-08 | 自然资源部第一海洋研究所 | Deep and far sea magnetic force abnormity detection system and detection method based on buoy |
| CN111580168A (en) * | 2020-04-29 | 2020-08-25 | 山东省物化探勘查院 | Ocean magnetic method measuring system and application thereof |
| WO2021035434A1 (en) * | 2019-08-23 | 2021-03-04 | 唐山哈船科技有限公司 | Marine geomagnetic daily variation observation apparatus and geomagnetic measurement method |
| CN112799320A (en) * | 2020-12-01 | 2021-05-14 | 海洋石油工程股份有限公司 | Ship motion parameter and storm flow data synchronous acquisition method |
| CN113050182A (en) * | 2021-03-12 | 2021-06-29 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Water area geomagnetic field observation method and system |
| CN113267182A (en) * | 2021-04-28 | 2021-08-17 | 广东国天时空科技有限公司 | Correction method based on geomagnetic measurement value and geomagnetic detection device |
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| CN106197174A (en) * | 2016-08-24 | 2016-12-07 | 易文俊 | The adaptability analysis method of bullet application in a kind of missile-borne magnetic assembled gesture measurement apparatus |
| CN106197174B (en) * | 2016-08-24 | 2018-02-23 | 易文俊 | The adaptability analysis method that bullet is applied in a kind of missile-borne magnetic assembled gesture measurement apparatus |
| CN106950516A (en) * | 2017-03-24 | 2017-07-14 | 中国科学院上海微系统与信息技术研究所 | A kind of weak swirl magnetic field measuring device and method |
| CN106950516B (en) * | 2017-03-24 | 2019-06-14 | 中国科学院上海微系统与信息技术研究所 | A kind of weak swirl magnetic field measuring device and method |
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| CN109839877B (en) * | 2019-03-03 | 2021-07-27 | 上海卯瑞船舶设备有限公司 | Monitoring device for ship remote management and use method thereof |
| WO2021035434A1 (en) * | 2019-08-23 | 2021-03-04 | 唐山哈船科技有限公司 | Marine geomagnetic daily variation observation apparatus and geomagnetic measurement method |
| CN110658482A (en) * | 2019-09-10 | 2020-01-07 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN110658482B (en) * | 2019-09-10 | 2021-08-10 | 北京自动化控制设备研究所 | Multi-sensor data acquisition and fusion method for magnetic detection system |
| CN111123173A (en) * | 2019-12-10 | 2020-05-08 | 自然资源部第一海洋研究所 | Deep and far sea magnetic force abnormity detection system and detection method based on buoy |
| CN111123173B (en) * | 2019-12-10 | 2021-10-22 | 自然资源部第一海洋研究所 | Deep and far sea magnetic force abnormity detection system and detection method based on buoy |
| CN111580168A (en) * | 2020-04-29 | 2020-08-25 | 山东省物化探勘查院 | Ocean magnetic method measuring system and application thereof |
| CN112799320A (en) * | 2020-12-01 | 2021-05-14 | 海洋石油工程股份有限公司 | Ship motion parameter and storm flow data synchronous acquisition method |
| CN113050182A (en) * | 2021-03-12 | 2021-06-29 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Water area geomagnetic field observation method and system |
| CN113050182B (en) * | 2021-03-12 | 2024-03-01 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Method and system for observing geomagnetic field in water area |
| CN113267182A (en) * | 2021-04-28 | 2021-08-17 | 广东国天时空科技有限公司 | Correction method based on geomagnetic measurement value and geomagnetic detection device |
| CN113267182B (en) * | 2021-04-28 | 2024-04-30 | 广东国天时空科技有限公司 | Correction method based on geomagnetic measurement value and geomagnetic detection device |
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| CN115166856B (en) * | 2022-07-12 | 2024-05-28 | 中国自然资源航空物探遥感中心 | Unmanned ship weight magnetic measurement method, system, equipment and computer readable storage medium |
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