NO872526L - DEVICE FOR CONTROL OF A MAGNETIC PROPERTY PROTECTION (MEB -) PLANT. - Google Patents

Description

The invention relates to a device for controlling a vessel's magnetic self-protection (MEB) system, which comprises a voluminous three-axis coil system consisting of current-carrying coils in three orthogonal vessel axes to compensate for the vessel's own magnetic field which depends on the earth's magnetic field at the vessel's position and the vessel's movement in the earth's magnetic field (course, meandering etc.).

Ships, boats and other vessels in the Bundeswehr, but also merchant ships, are due to their own magnetic fields (noise fields)

which superimposes the earth field and disturbs it, directly threatened by mines and torpedoes with magnetic sensors, and can be located by bearing systems with magnetic sensors. For this reason, the vessels to be protected are equipped with an MEB system, which has the task of eliminating the inherent magnetic field and thus the danger.

The self-magnetic field thereby comprises a so-called permanent part and an induction part, which can be fed back to the ongoing up-magnetization of the vessel during speed in the earth's field, as its size is variable depending on the course and the position of the vessel's axes relative to the horizon.

Such MEB plants are described at length in the literature (eg Kosack and Wangerin, "Elektrotechnik auf Handelsschiffen", Springer Verlag 1956, pages 255-257, ill. 234). They include

a voluminous, three-axis coil system consisting of current-carrying coils in three orthogonal axes to compensate for the vessel's own magnetic field.

Each vessel equipped with a MEB system first performs a basic setting of the MEB system (initial measurement) on the basis of a so-called magnetic measurement, whereby an optimal compensation value is obtained by setting suitable winding currents and suitable coil connection states (ampere-winding number).

However, the setting changes - except for long-term changes which require a setting check at given intervals - while on the move. Due to the width dependence of the earth's magnetic field, the course dependence of the induction part generated by the horizontal component of the earth's magnetic field and the dependence of the induction field on the position of the vessel axes to the horizon, the MEB facility has a control device resp. a control which adjusts the currents respectively and, when connecting the windings, the ampere winding figures for the individual coils during speed, so that the set compensation for the noise field is maintained.

It is known to use a manual latitude regulator and a course leveling regulator that can be maneuvered manually as well as automatically by the gyrocompass (Deutsche Minenraumdienstvor-schrift Nr. 16 "Magnetischer Schutz der Minenraumfahrzeuge", 1946, especially pages 14 and 15).

However, the Gyro-MEB system is in practice manually controlled. Errors in the maneuvering of the regulators are therefore only recorded by manual control. In addition, in the case of the known installations, the self-field changes are not recorded. With regard to the increased sensitivity of the ignition mechanisms, the known MEB systems can therefore no longer satisfy today's requirements.

It is also known to record the changes of the ship's and earth's field by magnetic sensors (sensors) (Kosach and Wangerin l.c. p.257). Today, these fully automatic, specially controlled, current-regulated MEB systems usually have a ship-mounted magnetic field probe triple to record the earth field at the ship's position and the ship's movement in the earth field (course, yawing, pitching, yawing) (DE-PS 977 846). There is a separate compensation of the permanent, induction and eddy current components of the ship noise field in all three ship axes (vertical, horizontal and transverse ship axis).

This known MEB system has the following disadvantages: the probe system, the probe triple, cannot for technical reasons be placed on the vessel at the location for the most favorable measurement with optimal measurement conditions, but only where it is structurally possible.

The measurement signal from the probes in the ground field is the only control signal for the MEB plant. In the event of a complete failure of the probes, the system cannot therefore be controlled manually, as the so-called MEB channels are controlled course-dependently. Probe errors are therefore not easily noticed.

If the measurement signal is not produced by the ground field, but by the ship's field, error registration becomes even more difficult and leads even earlier to a misinterpretation and thus to an erroneous MEB setting.

In the further development of sensor technology, a situation has arisen where the insufficient magnetic protection measures on the one hand foreshadow a fraudulent security, while on the other hand the intelligent sensor provides opportunities for more accurate "hits".

It is therefore necessary to adapt the effect of the MEB facility to sensor development. This requirement applies both to vessels with ferromagnetic construction as well as to vessels with non-magnetic construction with partially ferromagnetic installations.

The purpose of the invention is therefore to develop the device stated in the introduction so that it provides a significantly better and more reliable magnetic compensation of vessels than the compensation with traditional MEB controls. It is a matter of achieving an optimal magnetic protection state and limiting the measurement and control of the magnetic protection state from the outside to a minimum, in order at the same time to significantly increase the plant's operational reliability.

The invention shall thereby be able to be used on heavily protected vessels with a non-magnetic and electrically non-conductive outer skin, on strongly protected vessels with a non-magnetic but electrically conductive outer skin and on vessels with a ferromagnetic outer skin.

This purpose is achieved according to the invention by using process management with a digital data processor which is assigned to a data bank where the vessel-specific data for the first measurement at the measurement site, position-dependent data on the earth's magnetic conditions in the vessel's operating area (geomagnetic data)

is stored, and which is assigned to the measuring sensors on board the vessel for coil data, geomagnetic position, course and vessel motions and which, due to a given process control (algorithms), controls the ampere winding numbers of the compensation coils so that optimal compensation is ensured.

With the device in the form of a process-controlled MEB system according to the invention, the magnetic counterfields are controlled to compensate for the magnetic effects occurring on or in the vessel depending on geographical position, course and the vessel's own motion. The core of the process-controlled MEB system is an intelligent control system with a data processor that is connected to a data warehouse (data bank).

The data warehouse contains the parameters that are necessary to obtain optimal control of the MEB plant. There is data for compensation of the position-dependent magnetic effects, the position- and heading-dependent effects, of the magnetic effects dependent on the vessel's self-movement in the earth's field and of the magnetic effects dependent on the operating condition.

The magnetic fields of ferromagnetic objects such as installations and items of equipment in the vessel, as well as their magnetic reaction at different operating conditions and when moving in the earth's field, can thereby be accurately determined from a measurement technique. This also applies to the ferromagnetic or non-magnetic outer skin of the vessel. It is just as easy with known data transmitters arranged inside the vessel - without the use of magnetic field probes - to find the data for course, position

and self-motion of the vessel.

Further data for managing the MEB plant in exceptional situations is provided, so that even for a disturbed plant, the most optimal setting can be ensured.

With the device made in accordance with the invention,

the data found so far at the magnetic probes for regulation or control of the ampere winding numbers for the compensation coils over the stored geometric data in connection with measurement values for the geographical position and the direct measurement of the vessel's own motion as well as the operating conditions measured with corresponding sensors in the vessel's interior.

The major advantage of the device according to the invention is that a magnetic field probe system which can easily be mechanically damaged is dispensed with, whereby operational reliability can be increased considerably. The focus is no longer on the measurement and the complicated compensation of the probe signals, but on the actual regulation/control which takes place with continuous digital control. It is obtained by considering the operating conditions without the detour of the probe responses. The compensation can therefore be carried out optimally. The process-controlled MEB plant therefore has particularly good application possibilities resp. advantages in underwater vessels, as it is always problematic to place magnetic field probes on and outboard of submarines in exposed locations.

Vessels equipped with the device according to the invention are characterized by worldwide applicability, low frequency of disturbances and better protection against magnetic sensors.

The invention shall be explained in more detail in connection with an exemplary embodiment shown in the drawing. Fig. 1-3 shows the coil system for an MEB system in a ship's hull.

Fig. 4-6 shows the ship's own magnetic fields (noise fields)

in the three ship coordinates.

Fig. 7-9 shows the size of the induced part due to the ship's swaying. Fig. 10 shows a block diagram for the process-controlled MEB plant according to the invention. Fig. 11-14 schematically shows the information flow during compensation with four different compensation algorithms.

In fig. 1-3 shows the voluminous, three-axis coil system

for an MEB system in a ship 1 (such as one on a vessel as a ferromagnetic noise body). This coil system consists of coils 2, 3, 4 in three orthogonal axes X-Y-Z. Each coil respectively 2, 3 and 4 is usually divided into three (not shown in detail) sub-coils. The one partial coil (additional designation P) serves to compensate for a permanent vessel-dependent noise field share.

Another sub-coil (additional designation I) serves to compensate a part of the noise field induced by the earth field. As eddy fields are induced in the system's metallic parts due to the ship's 1 natural motion in the earth's field, their compensation takes place with a third partial coil (additional designation E).

The ship's magnetic fields - which are shown in fig. 4-6 - are usually designated as follows according to the ship's coordinates: Longboard components = X-components (fig. 5) Transverse components = Y-components (fig. 6) Vertical components = Z-components (fig. . 4).The X-Y-Z coordinate system is assumed to be fixed, i.e. aligned to the generator of the magnetic noise field - in the design example the ship 1.

Fig. 4 shows the ship 1 with the fixed coordinate system. In addition, the isolines 10 for the magnetic field for pure vertical magnetization of the ship 1 have been added in schematic form. A measurement of the vertical field portion in the water depth MT would give it with 11 designated principal courses under the ship.

Fig. 5 shows the ship 1 and the axes of the coordinate system in the same position as in fig. 4, however, the isolines 12 for the magnetic field are now shown by pure longitudinal magnetization of the ship 1. A measurement of the vertical field component would show it with 13 designated principle courses under the ship 1.

In fig. 6, the ship 1 is shown from the front and corresponds to the y and z axis of the coordinate system. In this connection, the lines 14 for the same field strength for pure transverse magnetization of the ship 1 have been added. If one measures such a magnetization at depth MT the vertical components of the magnetic field, then the field course characterized by 15 would be obtained.

Under normal circumstances, a ship 1 has both vertical as well as longitudinal and transverse magnetizations, i.e. in all three coordinate directions.

The Z component of the thus generated ship field is independent of the heading angle. The X component changes course-dependently as a cosine function, which has its maximum value when heading north and south and is zero when heading east and west. The Y component also changes depending on course, although as a sine function which has its maximum value when heading east and west and is zero when heading north and south. All three components change their value further with pitching and pitching movements of the ship. The induced noise field share during swaying is also shown in more detail in fig. 7-9. The earth's magnetic field generates in the direction of its total induction field vector S, which corresponding to the shear angle for the ship 1 is divided into the components SZI and

SEW.

The coils, on the other hand, are named according to their main magnetic winding directions. The coils 2 in fig. 1 which lie parallel to the Y-Z plane, are the L coils (L-MEB winding), whose magnetic winding axes lie in the longitudinal direction (L corresponds to the longitudinal direction). The coils 3 in fig. 2 (only one is shown), lying parallel to the X-Y plane, are the V-coils (the V-MEB winding) with vertical magnetic winding axes (V corresponds to the vertical). The coils 4 in fig. 3, lying parallel to or in the X-Z plane, are the A coils (the A-MEB winding), whose magnetic action direction lies in the Y direction (A to-corresponds to the transom direction).

Then each coil 2 resp. 3 or 4 as listed consists of three sub-coils with the additional designations P, I, E, an MEB system has windings (sub-coils) designated as follows:

VI vertical induction field effect

VP vertical permanent field effect

VE vertical-acting eddy current field winding

LI long-ship-acting induction field winding

LP longitudinal permanent field winding

LE longitudinally acting eddy current field winding

AI transship-acting induction field winding

AP cross-ship permanent field winding

AE transversely acting eddy current field winding.

The coil windings are fed with direct currents in different directions. The positive current directions thereby result in the positive directions for that in fig. 1 shown coordinate system

X-Y-Z.

During the initial setting and during the setting checks (magnetic measurement), the currents are set and the windings are connected so that the self-magnetic field of the ship's hull, the so-called noise field, is compensated as optimally as possible. During continuous operation (speed), a regulator ensures resp. a control to ensure that the set compensation is maintained.

In fig. 10, the basic principle of the device according to the invention is shown in a block diagram. In this block diagram, 5 corresponds to the coil system consisting of coils 2-4 and 6 indicates the vessel equipped with measurement value transmitters (ship 1). A measured value memory containing the relevant measured values is denoted by 7 and a data bank by 8, in which the general and long-term valid data are stored. In a data processor 9, the data supplied from the measured value memory 7 and the data bank 8 are processed into control values for the coil system 5. The measured value memory 7 contains the relevant measured values supplied from the measured value transmitters to the vessel 6, as these measured value transmitters are not external magnetic field probes, but instead transmitters for recording the vessel's movements and position.

At the process-controlled MEB plant according to the invention

the hardware core is an intelligent control system, whose data processor 9 with the help of an integrated control and regulation method on a data bank 8 of fixed parameters and measured winding sizes (measured value memory 7) controls the power supply to the coil system 5 in the vessel 6 on the basis of a predetermined flow control (control algorithms), so that optimal compensation is ensured. The control and regulation method must therefore be able to be used on vessels with a non-magnetic outer skin, on vessels with a non-magnetic but electrically conductive outer skin and vessels with a ferromagnetic outer skin.

All data that the process-controlled MEB system needs for control to achieve optimal compensation is stored in the data bank 8 or recorded by sensors, which are not magnetic field probes, in the interior of the vessel 6. The data in the data bank 8 is divided into valid for all vessels data (generally valid data) and in data that is vessel-specific and long-term valid.

The geographical data is valid for all vessels. The specific data for a vessel is determined at the first measurement.

They reproduce the dependence between the coil system 5 on the relevant vessel 6 and the effect of the earth field components.

With a permanently running measurement program, the encoder for the effect quantities is interrogated by the data processor 9 and the control algorithms supplied with the relevant data necessary to find an optimal MEB setting via the measured value memory 7.

The data necessary for the intelligent control system

in the process-controlled MEB plant is divided into three groups. Groups 1 and 2 are general and long-term valid data and are thus stored in the data bank 8. Group 3 is relevant measurement data and is therefore added to the measurement value memory 7.

Each group, on the other hand, contains systematically sub-divided data subgroups. The data groups can therefore be reproduced as follows:

1st group: Geomagnetic data (in databank 8)

1.1 Position area 1 for the vessel

1.1.1 Horizontal soil field

1.1.2 Vertical earth field

1.1.3 Angle of inclination

1.2 Position area 2 for the vessel

2nd group: Data found during the first measurement (in databank 8)

2.1 Compensation of the permanent field

2.1.1 Power and connection for all LP coils

2.1.2 Current and connection for all AP coils

2.1.3 Current and connection for all VP coils

2.2 Compensation of the vertical induction field IV at the measurement location

2.2.1 Current and connection of very VI coils

2.3 Compensation of the horizontal induction field IH at the measurement location when heading north (N)

2.3.1 Current and connection of all LI coils

2.3.2 Power and connection of all AI coils

2.4 Compensation of the horizontal induction field IH at the measurement site when heading east (0)

2.4.1 Power and connection of all LI coils 2.4.2 Power and connection of all AI coils

2.5 Compensation of the eddy current field by swaying at the measurement site when heading east

2.5.1 Power and connection of all AE coils 2.5.2 Power and connection of all VE coils

2.6 Compensation of the eddy current field by stamping at the measurement site on a course to the north

2.6.1 Power and connection of all LE coils

3rd group: Data which - has been measured on board the vessel (in measurement value memory 7)

3.1 Control data from the coil system

3.1.1 Coil currents

3.1.2 Coil heating

3.1.3 Coil resistance values

3.2 Movement Data

3.2.1 Geographical position

3.2.2 Course

3.2.3 Swinging movement

3.2.4 Stamping movement

In the process management of the intelligent control systems, a permanent measurement program is run which registers the control data from the coil system 5 and the movement data for the vessel 6 and adds these to the measured value memory 7. The movement data has a higher priority than the control data when a response is triggered from the process control.

Within the movement data list, the following order prevails:

- course

- swaying

- stamping

- geographical position.

In the progress control of the data processor 9, a change in course is thus immediately reacted to, then to swaying and bumping, and only then to taking a different geographical position.

In order to determine the compensation of the individual magnetic effects, quasi-parallel processes are run with different control algorithms, which are shown in fig. 11-14.

The individual partial windings and their current inputs are then processed according to the following criteria:

1) When compensating the permanent part according to fig.

11, only the data in group 2.1 for the first measurement are decisive. The set compensation applies everywhere. When compensating the P share, the task for the MEB control system is to check the set coil current and the electrical values for the coil system 5 for P compensation. In addition, the data processor 9 receives the corresponding values from the data bank 8 and a monitoring sector 7a of the measured value memory 7. The data processor can, in case of deviations in the coil system 5, make corresponding adjustments via its control output 9a. 2) The geomagnetic effects on vessel 6, the induction field, must be split into their components. Since the vertical and horizontal components IV and IH of the induction field have different effects on the magnetic state of the vessel 6, their compensation must be carried out completely separately. The vertical induction field IV produced in the vessel by the vertical component of the earth's field is entirely position-dependent, but not course-dependent. The horizontal induction field IH produced by the horizontal component of the earth field in the vessel is, on the other hand, position and course dependent.

a) When compensating the vertical induction field IV

according to fig. 12, the control algorithm seizes accordingly

only entered when a change in the geographical position is measured

tion. The data processor 9 receives the values necessary for the calculation of a correction signal from the data bank 8 and a first memory sector 7b in the measured value memory 7 which contains the relevant values for the position and the position change respectively. In addition, it is supplied with the necessary values from the monitoring sector 7a. With the control signal occurring at its output 9b, the VI coils are correspondingly regulated.

b) When compensating the horizontal induction field IH

according to fig. 13, on the other hand, the control algorithm intervenes

when a course change and/or a change in the geographical position is measured. In addition to the values from the data bank 8 and the monitoring sector 7a, the data processor 9 also receives the relevant values from the first memory sector 7b and a second memory sector 7c which holds the measured values for the course and the course change respectively, the control signals necessary for the control appear on the output 9c. The control algorithm for horizontal compensation must also capture the shift.

In order to determine the anti-magnetic measures according to the above control algorithm, the process control of the MEB facility therefore needs the position and course of the vessel. This information is received by the process control by connections to the position-determining devices and the gyrocompass and, in emergency cases, by manual input. The angle of inclination and the horizontal intensity of the earth's field and thus also the vertical intensity change from place to place on earth. Within the framework of permitted deviations from the ideal compensation by the compensation system, it is possible to divide the navigation maps into position areas, whereby isoclines and isodynamics must be taken into account when dividing the area.

For these position ranges, a valid horizontal value and vertical value and the angle of inclination are determined. At the same time, the geographical magnetic anomalies must also be taken into account. The position surface map is entered as a database in the data bank 8 for the MEB processor. The position floats do not have to be the same size, but on the other hand right-angled, taking into account the longitude and latitude degrees on the navigation charts of a specific scale in order to make the calculation of the position floats faster.

Each position surface with its corner data constitutes a file. In this file, the horizontal components and the vertical components of the earth field are added, in addition to the currents supplied to the vertical compensation coils, as the vertical compensation is not course-dependent.

For the horizontal compensation, the current is added for a compensation for heading north and a compensation for heading east. From these values, the current for the horizontal compensation can be calculated for each heading angle. 3) The previously stated compensation measures against the induction field apply to a vessel moving on a plane. If the vessel does not move on a straight keel, but on the other hand makes movements which, in the case of a ship, are described as swaying, pitching and yawing, then the MEB system must react to this movement.

Two separate movement responses must be taken into account which

must be processed. Thereby, it is necessary to register the vessel movements. The movements of swinging or stomping can either be recorded by a ball sensor or a gyro sensor. The yaw is recorded by a gyro sensor and treated as a course change.

In the case of a permanently changing position of the vessel in the earth's field, the induction field is also constantly changing. This also makes it necessary to change the anti-magnetic measures. The response of the vessel is determined by electrically simulated movements during the first measurement under the magnetic conditions at the measurement site. Using the determined response parameters and the earth field components for the positions, the motion-correct magnetic response for the induction field MEB becomes a linear control problem.

The other reaction to movements such as swaying, pitching and yawing is the generation of eddy fields by vessels with installations with large surfaces of conductive materials or vessels that are wholly or partially built in conductive material. Movement in the earth's field causes induction currents, so-called eddy currents, in conductive materials, which in turn produce magnetic fields. The vortex field appears with a near 90° phase shift and is dependent on the wobble and bump frequency.

Of the magnetic field components, the 8 subcomponents P = the permanent part, IV = the vertical induction field produced by the vertical earth field components, IHN = the horizontal induction field component generated by the horizontal earth field components heading north and IHO = the horizontal induction field component heading towards east produced horizontal induction field share.

For calculating a noise field for a ferromagnetic object

on each arbitrary course and at each arbitrary point on the earth, in addition to the sub-components P, IV, IHN and IHO, the following statements are also required:

- the course angle Fl

- the vertical soil field portion at the EVM measurement site

- the vertical earth field portion at the "calculation point" EVR

- the horizontal soil field portion at the measuring site EHM

- the horizontal soil field portion at the "calculation point" EHR.

By this, "measuring location" shall be understood as the location of the measurement

of the vessel and at the "calculation point" the relevant position of the vessel.

The soil field components are specified in a uniform scale. Which unit is used when specifying the earth field components is irrelevant. From the tasks, a vertical factor VF and a horizontal factor HF are determined and these become dimensionless. One has:

VF = EVR/EVM and

HF = EHR/EHM

The vortex fields need a separate compensation program, whose response parameters, on the other hand, are determined during the first measurement with electrically simulated motion. To simplify, the eddy field compensation can be performed with another processor in slave operation.

When compensating the eddy current fields according to fig.

14, the control algorithm intervenes when the movement sensor shows a movement of the vessel about its longitudinal and transverse axes. The data processor 9 receives, in addition to the necessary values from the data bank 8, the relevant values from the first and second memory sectors 7b and 7c, and also the relevant values for the stomping and wobble movements which are stored in a third and a fourth memory sector 7d and 7e. The data processor 9 provides the necessary control signals via its output 9d for the compensation of the control field induced by the corresponding vessel movements.

The effect of the control algorithm, with which the wobble movements

according to fig. 7-9 are included in the process-controlled MEB system, depends on the quality of the setting data determined so far during the first measurement (data subgroups 2.5 and 2.6).

How the control algorithms can be derived from a procedure for calculating the noise field for a ferromagnetic object on every arbitrary course at every point on earth, the following example will show: When magnetically measuring ferromagnetic objects, the components of the self-magnetic field are measured in the coordinate directions X,

Y and Z and saved. The coordinate system is fixed to the object to facilitate processing. In this object-fixed coordinate system, the components in the X direction towards the bow of the object and thus towards the upper edge of the matrix, the components in the Y direction towards the right side of the object and the matrix and the components in the Z direction towards the underside increase on a course to the north. When outputting data in the computer in the form of matrices for the second main course, regardless of the type of measurement value registration when folding or turning or when changing the sign, it must therefore be ensured that the measurement value matrix points towards the bow of the object and thus the components in the X direction towards the upper edge of the matrix, the components in the Y direction towards the right side and the components in the Z direction towards the bottom side.

The first partial step in solving the worldwide valid noise field calculation for an object is the calculation of the noise field for each course at the measurement location.

The permanent part P, the vertical induction field IV and the horizontal induction field part on courses respectively to the north and east IHN and IHO, are the parameters of the calculation. Thereby, in the calculation, the horizontal induction field portion IHN on a course to the north is treated as the cosine of the heading angle Fl, the horizontal induction field portion IHO on a course to the east as the sine of the course angle Fl.

The noise field HSF for the components in the coordinate directions X, Y

and Z are each calculated with the formula prepared for the programming

When calculating a noise field for an ..object at the measurement site at different rates, the permanent part P and the vertical induction field part IV formed by the vertical earth field components are always equal. Should the noise field for an object in a location with different geomagnetic conditions be calculated as at the measurement location,

then the horizontal factor HF and the vertical factor VF must be added to the calculation procedure.

A calculation formula set up in the most favorable form for the programming is obtained for the noise field HST for an object with different geomagnetic conditions than those of the measurement site:

As already indicated, the sub-components are obtained from the data bank 8.

The soil field values for the horizontal and vertical soil fields

for the measurement location can be permanently linked to the calculation program. The ground field components for the location for which the object's noise field is to be calculated can, in case of frequent use, also be at hand in the data bank 8. An entry for non-occurring data should be arranged.

Claims (10)

1. Device for controlling a magnetic self-protection (MEB) system in a vessel, consisting of a voluminous, wooden axial coil system of current-carrying coils in the three orthogonal vessel axes to compensate for that of the earth's magnetic field at the vessel site and the vessel's movement in the earth's magnetic field (course, yaw etc.), dependent magnetic self-fields for the vessel, characterized in that a process control is provided with a digital data processor (9) which is assigned to a data bank (8), in which vessel-specific data for the first on-site measurement, and position-dependent data on the geomagnetic conditions in the vessel's operating area (geomagnetic data) are added, that on board the vessel (vessel 1) occurring measurement encoders for the coil data are assigned a geographical position, course and vessel self-movements and that due to a given process control (algorithms) the ampere winding figures for the compensation coils are regulated so that an optimal compensation is reached. 2. Facility according to claim 1, characterized in that the data for the first measurement are data for compensation of the permanent field (P), the vertical induction field (IV)/ as well as the horizontal induction fields (IHN and IHO) when heading north and east, as well as for compensation of the eddy current field when swaying on a course to the east and when bumping on a course to the north, likewise with regard to the measurement location. 3. Device according to claim 1 or 2, characterized in that the data obtained on board the vessel is control data from the coil system (coil current, heat, resistance values) and movement data (geographical position, course, swaying and stomping movements). 4. Device according to requirement 3, characterized in that the progress control has a priority link of such a nature that when a response is triggered by the process control, the movement data is prioritized before the control data and that the following order of precedence prevails in the movement data lists: heading, swaying, stamping, geographical position. 5. Device according to one of the preceding claims, characterized by the fact that in the process control, different sequence controls (algorithms) have been added to determine the setting values for the ampere winding number setting for the coils to compensate for the permanent magnetic field (P), the horizontal magnetic induction field (IH), the vertical magnetic induction field (IV) and the magnetic eddy current field. 6. Device according to requirement 5, characterized in that the course control is carried out so that when compensating the permanent field (P) a first algorithm forms the setting values on the basis of the data from the first measurement, that when compensating the vertical induction field portion a third control algorithm is entered which when measuring a course change and/or a change in the geographical position produces the compensation, and that for compensation of the eddy current field, a fourth control algorithm has been entered which, on the basis of signals from assigned motion transmitters for the movement of the vessel about its axes, forms the setting values for the compensation. 7. Device according to claim 6, characterized in that another data processor is arranged for the eddy field compensation, which together with the first data processor (9) is connected for master-slave operation. 8. Device according to claim 6 or 7, characterized in that the control algorithm for compensation of the horizontal induction field (IH) is designed so that it also includes the compensation for the vessel movement "yaw". 9. Device according to one of claims 1-7, characterized in that the geomagnetic data is connected to pre-given right-angled surfaces on the earth's surface, taking geographical magnetic anomalies into account. 10. Device according to one of claims 1-9, characterized in that, in order to record the vessel's own movements (rolling, pitching, gearing), ball or gyro transducers are arranged.