CN103885002A  Parallelism error compensation method and system in magnetic sensor array measurement  Google Patents
Parallelism error compensation method and system in magnetic sensor array measurement Download PDFInfo
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 CN103885002A CN103885002A CN201410079847.3A CN201410079847A CN103885002A CN 103885002 A CN103885002 A CN 103885002A CN 201410079847 A CN201410079847 A CN 201410079847A CN 103885002 A CN103885002 A CN 103885002A
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Abstract
The invention discloses a parallelism error compensation method and system in magnetic sensor array measurement. A detected magnetic sensor array is fixed to a rotary platform in multiple modes, the magnetic sensor array is rotated, meanwhile, data output by magnetic sensors under different rotating angles are collected, therefore, the fixed azimuth error angles and fixed pitching error angles of magnetic shafts of the magnetic sensors are acquired, a correction matrix is obtained to correct the magnetic sensors, parallelism errors between threecomponent magnetometer sensitive shafts can be compensated to be within 0.02 degree, and the locating precision of a gradient tensor instrument on a magnetic target is effectively improved.
Description
Technical field
The present invention relates to accurate Magnetic Measurement Technology field, be specifically related to the parallelism error compensation method in a kind of array of magnetic sensors measurement.
Background technology
It is the technology just growing up recent years that gradient tensor is surveyed, and applies the magnetic gradient tensor measuring instrument (hereinafter to be referred as tensor instrument) that multiple vector Magnetic Sensors form, and can position magnetic target.Different from the search type locator meams of optically pumped magnetometer, when tensor instrument positions magnetic target, without reciprocally search back and forth, and it is high to have positioning precision, advantage simple to operate.
Gradient tensor instrument is a kind of form of array of magnetic sensors, is generally made up of several (minimum 3,9 at most) threecomponent Magnetic Sensor.Due to the restriction of mechanical erection technique and sensor manufacturing process, alignment error always existsand the sensitive axes that is each Magnetic Sensor is not parallel.Theoretical calculating can draw: even if the parallelism error between each Magnetic Sensor sensitive axes only has 0.05 °, the measuring error of being brought by it can reach tens of nanoteslas, this has substantially exceeded the signal intensity of measured target, the direct result causing is exactly that measuring error is bigger than normal, and the accurate quantification that cannot be applied to the later stage calculates.Owing to forming the Magnetic Sensor size less (length is no more than 200mm) of gradient tensor instrument, and there is parallelism error between the sensitive axes of Magnetic Sensor and physical construction reference surface, generally carry out the installation of Magnetic Sensor by accurate mechanical registeration mechanism, but fine alignment mechanism also can only narrow down to parallelism error 0.2 °, this can not meet the requirement that gradient tensor is surveyed far away.
Summary of the invention
In view of this, the invention provides parallelism error compensation method and system in a kind of array of magnetic sensors measurement, parallelism error between threecomponent Magnetic Sensor magnetic susceptibility axle can be compensated to 0.02 degree, effectively improve the positioning precision of gradient tensor instrument to magnetic target.
Parallelism error compensation method in a kind of array of magnetic sensors measurement, described array of magnetic sensors is fixed on same installing plate and is formed by n Magnetic Sensor, on installing plate, there is the datum line of three pairwise orthogonals, each Magnetic Sensor has three magnetic axises, be respectively magnetic axis X, magnetic axis Y and magnetic axis Z, taking a summit of installing plate as initial point O, three datum line directions are that Xaxis, Yaxis and Zdirection are set up coordinate system, and the method comprises the following steps:
Step 1, be fixed on turntable parallel with turntable table top the XOY plane of the installing plate of array of magnetic sensors, the Xaxis of array of magnetic sensors is aimed at 0 ° of groove of turntable;
Step 2, revolvingturret one week, the magnetic axis X of 15 ° of every rotations each Magnetic Sensor to array of magnetic sensors, the output data of magnetic axis Y gather, and obtain respectively corresponding relation, the position angle of magnetic axis Y and the corresponding relation of magnetic axis Y output data of the position angle of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The position angle of described magnetic axis X be magnetic axis X at the projection of XOY plane and the angle of Xaxis, the position angle of described magnetic axis Y is that magnetic axis Y is at the projection of XOY plane and the angle of Yaxis;
Step 3, by be fixed on turntable on parallel with turntable table top of installing plate YOZ plane of array of magnetic sensors, aim at for 0 ° by Y axis datum line with turntable;
Step 4, revolvingturret one week, 15 ° of the every rotations magnetic axis Y of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the angle of pitch of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis Y and the output data of magnetic axis Y; The angle of pitch of described magnetic axis Y is magnetic axis Y and the projection of YOZ plane and the angle of Yaxis, and the angle of pitch of described magnetic axis Z is magnetic axis Z and the projection of YOZ plane and the angle of Z axis;
Step 5, be fixed on turntable parallel with turntable table top the XOZ plane of the installing plate of array of magnetic sensors, aim at for 0 ° by Z axis datum line with turntable;
Step 6, revolvingturret one week, 15 ° of the every rotations magnetic axis X of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the position angle of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The angle of pitch of described magnetic axis X be magnetic axis X at the projection of XOZ plane and the angle of Xaxis, the position angle of described magnetic axis Z be magnetic axis Z XOZ plane projection and the angle of Z axis;
Step 7, corresponding relation that step 2, step 4 and step 6 are obtained carries out SineFitting respectively, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor, and inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
Step 8, obtain the correction matrix A of each Magnetic Sensor according to step 7
_{i}, described correction matrix A
_{i}for:
Step 9, the correction matrix A obtaining according to step 8
_{i}the output data of i the sensor to array of magnetic sensors are revised.
Parallelism error buckingout system in a kind of array of magnetic sensors measurement, described array of magnetic sensors is fixed on same installing plate and is formed by n Magnetic Sensor, on installing plate, there is the datum line of three pairwise orthogonals, each Magnetic Sensor has three magnetic axises, be respectively magnetic axis X, magnetic axis Y and magnetic axis Z, taking a summit of installing plate as initial point O, three datum line directions are that Xaxis, Yaxis and Zdirection are set up coordinate system, it is characterized in that, this system comprises multichannel data acquisition device, processing module and Output Display Unit;
The described multichannel data acquisition device respectively output data of each magnetic axis of the each Magnetic Sensor to array of magnetic sensors gathers, and sends to processing module;
Described image data is specially: the output data of the each magnetic axis to each Magnetic Sensor gather, for each Magnetic Sensor, these data comprise magnetic axis X, the magnetic axis Y of this sensor and the position angle of magnetic axis Z and the corresponding relation of exporting data, and the angle of pitch of the magnetic axis X of Magnetic Sensor, magnetic axis Y and magnetic axis Z and the corresponding relation of exporting data, the position angle of described magnetic axis X is magnetic axis X at the projection of XOY plane and the angle of Xaxis, and the angle of pitch of described magnetic axis X is that magnetic axis X is at the projection of XOZ plane and the angle of Xaxis; The position angle of described magnetic axis Y be magnetic axis Y at the projection of XOY plane and the angle of Yaxis, the angle of pitch of described magnetic axis Y is magnetic axis Y and the projection of YOZ plane and the angle of Yaxis; The position angle of described magnetic axis Z be magnetic axis Z XOZ plane projection and the angle of Z axis, the angle of pitch of described magnetic axis Z is magnetic axis Z and the projection of YOZ plane and the angle of Z axis;
Described processing module specifically comprises matching unit, matrix calculation unit, amending unit;
The corner of each magnetic axis that described matching unit collects multichannel data acquisition device carries out SineFitting processing with the relation of output data, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor; Inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
The inherent error angle, orientation of each magnetic axis of each Magnetic Sensor that described matrix calculation unit obtains according to matching unit and pitching inherent error angle obtain the correction matrix A of each Magnetic Sensor
_{i},
Correction matrix A
_{i}for:
${\left[\begin{array}{ccc}\mathrm{cos}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{xi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{yi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{zi}}\end{array}\right]}^{1}$
Described amending unit is according to amending unit A
_{i}the correction matrix of the each Magnetic Sensor obtaining is revised the output data of i Magnetic Sensor, and sends to Output Display Unit;
Described Output Display Unit shows revised output data.
Beneficial effect:
1) the present invention is fixed on tested array of magnetic sensors various ways on turntable, thereby the data that gather each Magnetic Sensor output under different corners by rotation array of magnetic sensors time obtain intrinsic azimuthal error angle and the intrinsic pitch error angle of each each magnetic axis of Magnetic Sensor, thereby obtaining correction matrix revises each Magnetic Sensor, parallelism error between threecomponent magnetometer sensitive axes can be compensated in 0.02 °, effectively raise the positioning precision of gradient tensor instrument to magnetic target.
2) the present invention uses sinusoid fitting method can obtain exactly intrinsic azimuthal error angle and the intrinsic pitch error angle of three magnetic axises of each Magnetic Sensor according to the corresponding relation of the corner of each magnetic axis of each Magnetic Sensor and output data, and then obtain correction matrix accurately, thereby complete the depth of parallelism correction between the corresponding magnetic axis of each Magnetic Sensor by mathematical method, further improved the positioning precision of gradient tensor instrument to magnetic target.
Brief description of the drawings
Fig. 1 is the schematic diagram of array of magnetic sensors.
Fig. 2 is system schematic of the present invention.
Embodiment
Below in conjunction with accompanying drawing, describe the present invention.
A parallelism error compensation method in array of magnetic sensors measurement, comprises the following steps:
Array of magnetic sensors is fixed on same installing plate and is formed by n magnetic sensor, has the datum line of three pairwise orthogonals on installing plate, and taking a summit as initial point O, three datum line directions are that Xaxis, Yaxis and Zdirection are set up coordinate system.Each Magnetic Sensor has three magnetic axises, be respectively magnetic axis X, magnetic axis Y and magnetic axis Z, when composition array, magnetic axis X, the magnetic axis Y of each Magnetic Sensor, the datum line that magnetic axis Z is parallel to respectively the Xaxis of installing plate, the datum line of Yaxis, the datum line of Z axis are fixed, but in welding process, there is mismachining tolerance, make the magnetic axis of n Magnetic Sensor not strict strictly parallel with the datum line on installing plate.
Step 1, be fixed on turntable parallel with turntable table top the XOY plane of the installing plate of array of magnetic sensors, the Xaxis of array of magnetic sensors is aimed at 0 ° of groove of turntable;
Step 2, revolvingturret one week, the magnetic axis X of 15 ° of every rotations each Magnetic Sensor to array of magnetic sensors, the output data of magnetic axis Y gather, and obtain respectively corresponding relation, the position angle of magnetic axis Y and the corresponding relation of magnetic axis Y output data of the position angle of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The position angle of described magnetic axis X be magnetic axis X at the projection of XOY plane and the angle of Xaxis, the position angle of described magnetic axis Y is that magnetic axis Y is at the projection of XOY plane and the angle of Yaxis.
Step 3, by be fixed on turntable on parallel with turntable table top of installing plate YOZ plane of array of magnetic sensors, aim at for 0 ° by Y axis datum line with turntable;
Step 4, revolvingturret one week, 15 ° of the every rotations magnetic axis Y of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the angle of pitch of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis Y and the output data of magnetic axis Y; The angle of pitch of described magnetic axis Y is magnetic axis Y and the projection of YOZ plane and the angle of Yaxis, and the angle of pitch of described magnetic axis Z is magnetic axis Z and the projection of YOZ plane and the angle of Z axis.
Step 5, be fixed on turntable parallel with turntable table top the XOZ plane of the installing plate of array of magnetic sensors, aim at for 0 ° by Z axis datum line with turntable;
Step 6, revolvingturret one week, 15 ° of the every rotations magnetic axis X of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the position angle of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The angle of pitch of described magnetic axis X is magnetic axis X and the projection of XOZ plane and the angle of Xaxis, the position angle of described magnetic axis Z be magnetic axis Z and XOZ plane projection and the angle of Z axis.
Step 7, corresponding relation that step 2, step 4 and step 6 are obtained carries out SineFitting respectively, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor, and inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
Step 8, obtain the correction matrix A of each Magnetic Sensor according to step 7
_{i}, described correction matrix A
_{i}for:
Step 9, the correction matrix A obtaining according to step 8
_{i}the output data of i the sensor to array of magnetic sensors are revised.
The inherent error angle, orientation of each magnetic axis of each Magnetic Sensor and the method at pitching inherent error angle are specially: the output signal of each magnetic axis of each Magnetic Sensor meets formula:
y＝A×sin(ψθ)+B （1）
ψ is the anglec of rotation, and θ is inherent error angle, and B is the sideplay amount of magnetic axis output data;
Therefore, to what obtain, the output data y of each Magnetic Sensor and anglec of rotation ψ corresponding relation are carried out to SineFitting, be brought in described formula (1), obtain the inherent error angle θ of each magnetic axis of each Magnetic Sensor, θ is intrinsic position angle or intrinsic pitch error angle.
Parallelism error buckingout system in a kind of array of magnetic sensors measurement based on said method, the parallelism error buckingout system in a kind of array of magnetic sensors measurement, comprises multichannel data acquisition device, processing module and Output Display Unit;
The described multichannel data acquisition device respectively output data of each magnetic axis of the each Magnetic Sensor to array of magnetic sensors gathers, and sends to processing module; Described array of magnetic sensors is made up of n Magnetic Sensor;
Described image data is specially: the output data of the each magnetic axis to each Magnetic Sensor gather, and for one of them magnetic axis, these data comprise the position angle of this magnetic axis and the relation of corresponding output data, this magnetic axis angle of pitch and corresponding output data.
Described processing module specifically comprises matching unit, matrix calculation unit and amending unit;
The corner of each magnetic axis that described matching unit collects multichannel data acquisition device carries out SineFitting processing with the relation of output data, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor; Inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
The inherent error angle, orientation of each magnetic axis of each Magnetic Sensor that described matrix calculation unit obtains according to matching unit and pitching inherent error angle obtain the correction matrix A of each Magnetic Sensor
_{i},
Correction matrix A
_{i}for:
${\left[\begin{array}{ccc}\mathrm{cos}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{xi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{yi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{zi}}\end{array}\right]}^{1}$
Described amending unit is according to amending unit A
_{i}the correction matrix of the each Magnetic Sensor obtaining is revised the output data of i Magnetic Sensor, and sends to Output Display Unit;
Described Output Display Unit shows revised output data.
The present embodiment is with the example that is modified to of first Magnetic Sensor, and the correction matrix of first Magnetic Sensor is:
The output of three magnetic axises that collect when first Magnetic Sensor is respectively B
_{x1}, B
_{y1}, B
_{z1}time, the revised B ' that is output as
_{x1}, B '
_{y1}, B '
_{z1}for:
The present embodiment has provided the contrast relationship before and after the array of magnetic sensors depth of parallelism correction being made up of five threecomponent Magnetic Sensors: the parallelism error before revising between the corresponding sensitive axes of each Magnetic Sensor is between2.741 °～2.361 °, as shown in table 1, unit is degree.
Table 1
Carry out according to the method described above after parallelism error compensation, the parallelism error between the corresponding magnetic axis of each Magnetic Sensor is all between0.02 °～0.02 °, and unit is degree.
Table 2
Can find out: revised parallelism error reduces greatly, be reduced to and do not revise 1% of front error, parallelism error between threecomponent magnetometer sensitive axes can be compensated in 0.02 °, effectively raise the positioning precision of gradient tensor instrument to magnetic target.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (2)
1. the parallelism error compensation method in an array of magnetic sensors measurement, described array of magnetic sensors is fixed on same installing plate and is formed by n Magnetic Sensor, on installing plate, there is the datum line of three pairwise orthogonals, each Magnetic Sensor has three magnetic axises, be respectively magnetic axis X, magnetic axis Y and magnetic axis Z, taking a summit of installing plate as initial point O, three datum line directions are that Xaxis, Yaxis and Zdirection are set up coordinate system, it is characterized in that, the method comprises the following steps:
Step 1, be fixed on turntable parallel with turntable table top the XOY plane of the installing plate of array of magnetic sensors, the Xaxis of array of magnetic sensors is aimed at 0 ° of groove of turntable;
Step 2, revolvingturret one week, the magnetic axis X of 15 ° of every rotations each Magnetic Sensor to array of magnetic sensors, the output data of magnetic axis Y gather, and obtain respectively corresponding relation, the position angle of magnetic axis Y and the corresponding relation of magnetic axis Y output data of the position angle of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The position angle of described magnetic axis X be magnetic axis X at the projection of XOY plane and the angle of Xaxis, the position angle of described magnetic axis Y is that magnetic axis Y is at the projection of XOY plane and the angle of Yaxis;
Step 3, by be fixed on turntable on parallel with turntable table top of installing plate YOZ plane of array of magnetic sensors, aim at for 0 ° by Y axis datum line with turntable;
Step 4, revolvingturret one week, 15 ° of the every rotations magnetic axis Y of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the angle of pitch of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis Y and the output data of magnetic axis Y; The angle of pitch of described magnetic axis Y is magnetic axis Y and the projection of YOZ plane and the angle of Yaxis, and the angle of pitch of described magnetic axis Z is magnetic axis Z and the projection of YOZ plane and the angle of Z axis;
Step 5, be fixed on turntable parallel with turntable table top the XOZ plane of the installing plate of array of magnetic sensors, aim at for 0 ° by Z axis datum line with turntable;
Step 6, revolvingturret one week, 15 ° of the every rotations magnetic axis X of each Magnetic Sensor and output data of magnetic axis Z to array of magnetic sensors gather, and obtain respectively corresponding relation, the position angle of magnetic axis Z and the corresponding relation of magnetic axis Z output data of the angle of pitch of array of magnetic sensors magnetic axis X and the output data of magnetic axis X; The angle of pitch of described magnetic axis X be magnetic axis X at the projection of XOZ plane and the angle of Xaxis, the position angle of described magnetic axis Z be magnetic axis Z XOZ plane projection and the angle of Z axis;
Step 7, corresponding relation that step 2, step 4 and step 6 are obtained carries out SineFitting respectively, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor, and inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
Step 8, obtain the correction matrix A of each Magnetic Sensor according to step 7
_{i}, described correction matrix A
_{i}for:
Step 9, the correction matrix A obtaining according to step 8
_{i}the output data of i the sensor to array of magnetic sensors are revised.
2. the parallelism error buckingout system in an array of magnetic sensors measurement, described array of magnetic sensors is fixed on same installing plate and is formed by n Magnetic Sensor, on installing plate, there is the datum line of three pairwise orthogonals, each Magnetic Sensor has three magnetic axises, be respectively magnetic axis X, magnetic axis Y and magnetic axis Z, taking a summit of installing plate as initial point O, three datum line directions are that Xaxis, Yaxis and Zdirection are set up coordinate system, it is characterized in that, this system comprises multichannel data acquisition device, processing module and Output Display Unit;
The described multichannel data acquisition device respectively output data of each magnetic axis of the each Magnetic Sensor to array of magnetic sensors gathers, and sends to processing module;
Described image data is specially: the output data of the each magnetic axis to each Magnetic Sensor gather, for each Magnetic Sensor, these data comprise magnetic axis X, the magnetic axis Y of this sensor and the position angle of magnetic axis Z and the corresponding relation of exporting data, and the angle of pitch of the magnetic axis X of Magnetic Sensor, magnetic axis Y and magnetic axis Z and the corresponding relation of exporting data, the position angle of described magnetic axis X is magnetic axis X at the projection of XOY plane and the angle of Xaxis, and the angle of pitch of described magnetic axis X is that magnetic axis X is at the projection of XOZ plane and the angle of Xaxis; The position angle of described magnetic axis Y be magnetic axis Y at the projection of XOY plane and the angle of Yaxis, the angle of pitch of described magnetic axis Y is magnetic axis Y and the projection of YOZ plane and the angle of Yaxis; The position angle of described magnetic axis Z be magnetic axis Z XOZ plane projection and the angle of Z axis, the angle of pitch of described magnetic axis Z is magnetic axis Z and the projection of YOZ plane and the angle of Z axis;
Described processing module specifically comprises matching unit, matrix calculation unit, amending unit;
The corner of each magnetic axis that described matching unit collects multichannel data acquisition device carries out SineFitting processing with the relation of output data, obtains inherent error angle, orientation and the pitching inherent error angle of each magnetic axis of each Magnetic Sensor; Inherent error angle, orientation is designated as α
_{mi}, pitching inherent error angle is designated as β
_{mi}, wherein m is x, y, z, represents respectively magnetic axis X, magnetic axis Y, the magnetic axis Z of Magnetic Sensor, the numbering that i is array of magnetic sensors, i=1,2,3 ... n;
The inherent error angle, orientation of each magnetic axis of each Magnetic Sensor that described matrix calculation unit obtains according to matching unit and pitching inherent error angle obtain the correction matrix A of each Magnetic Sensor
_{i},
Correction matrix A
_{i}for:
${\left[\begin{array}{ccc}\mathrm{cos}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{xi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{xi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{xi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{yi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{yi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{yi}}\\ \mathrm{cos}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\α}}_{\mathrm{zi}}\mathrm{cos}{\mathrm{\β}}_{\mathrm{zi}}& \mathrm{sin}{\mathrm{\β}}_{\mathrm{zi}}\end{array}\right]}^{1}$
Described amending unit is according to amending unit A
_{i}the correction matrix of the each Magnetic Sensor obtaining is revised the output data of i Magnetic Sensor, and sends to Output Display Unit;
Described Output Display Unit shows revised output data.
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