CN104019812A - Multi-sensor data fused aviation coil inertial navigation device - Google Patents
Multi-sensor data fused aviation coil inertial navigation device Download PDFInfo
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- CN104019812A CN104019812A CN201410273811.9A CN201410273811A CN104019812A CN 104019812 A CN104019812 A CN 104019812A CN 201410273811 A CN201410273811 A CN 201410273811A CN 104019812 A CN104019812 A CN 104019812A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/087—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the earth magnetic field being modified by the objects or geological structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
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Abstract
The invention relates to a multi-sensor data fused aviation coil inertial navigation device, wherein the upper end of a suspending rope is tied on the bottom of a single rotor unmanned helicopter, the lower end of the suspending rope is tied on a cross-shaped support in an equal angle, the cross-shaped support supports a Z-component receiving coil, and three altitude sensors are equidistantly fixed on the Z-component receiving coil and are connected with a posture data recording system through signal transmission lines; each posture sensor consists of an MEMS three-axis gyroscope, an MEMS three-axis accelerometer and an MEMS three-axis magnetoresistive sensor. According to the multi-sensor data fused aviation coil inertial navigation device, the measurement on an air posture deflection angle of an aviation coil is realized; the multi-sensor data fused aviation coil inertial navigation device has the characteristics of small size, quick response and low cost; in addition, after performing the data fusion processing, the influence on swinging posture of the aviation coil in the environment can be effectively reduced, and the corrected inversion magnetic field data can meet the precision requirement of a system at a strongly swinging environment.
Description
Technical field:
The present invention relates to a kind of airborne geophysical prospecting pick-up unit, especially single rotor unmanned helicopter ZTEM airborne electromagnetic survey device.
Background technology:
Single rotor unmanned helicopter ZTEM airborne electromagnetic survey system adopts single rotor unmanned helicopter as flight carrier, utilize artificial magnetic field or natively magnetic field as field source, by Z component receiving coil, receive the secondary field that underground medium produces because of eddy effect, thereby subsurface resistivity is made explanations.Z component receiving coil is one of core of single rotor unmanned helicopter ZTEM airborne electromagnetic survey system, hangs on single rotor unmanned helicopter below.In flight course, because the urgency of single rotor unmanned helicopter is stopped, turned to and the action such as inclination, cause the attitude of Z component receiving coil to swing, make the magnetic field data of measuring have error.Therefore, how effectively Real-Time Monitoring Z component receiving coil swings attitude, becomes an important research direction in ZTEM airborne electromagnetic survey system.
CN102991506A discloses a kind of car steering attitude detection system based on MEMS, and system comprises signal acquisition module, signal processing module, intelligent control module, attitude reminding module and power module.Signal acquisition module completes the real-time detection of vehicle drive operating pole state and initialize signal transmission; Signal processing module completes the processing such as AD conversion to initialize signal, digital filtering, and sends data to intelligent control module, and intelligent control module shows corresponding attitude information according to the Data Control attitude reminding module detecting; Power module is that system is powered.
CN103171561A discloses a kind of automobile attitude detecting method, comprise: 3-axis acceleration sensor, microprocessing unit and middle control computer are provided, described 3-axis acceleration sensor is arranged in automobile, and be electrically connected with the input end of described microprocessing unit, the output terminal of described microprocessing unit and described middle control computer are electrically connected; Described 3-axis acceleration sensor gathers the attitude parameter of automobile, and send attitude parameter to described microprocessing unit, described microprocessing unit judgement attitude parameter, and send judged result to described middle control computer, described middle control computer is adjusted the operation attitude of automobile in real time according to judged result.Compared to prior art, the operation attitude that described automobile attitude detecting method of the present invention can Real-time Obtaining automobile, and operation attitude is offered to middle control computer, to carry out corresponding adjustment, thereby improve the security of driving.
The Attitute detecting device of foregoing invention can Real-time Obtaining automobile athletic posture, but all come with some shortcomings.Owing to adopting one or both sensor, there is itself inherent characteristic, external world's variation along with time, temperature, can cause its error to add up in time, measured value can drift about, precision be can only guarantee at short notice, the dynamic stability of ZTEM airborne electromagnetic survey system and the requirement of robustness do not met.
For the general structure of single rotor unmanned helicopter ZTEM airborne electromagnetic survey device, Z component receiving coil is affected by the factors such as flying speed, air craft battery and wind direction, can swing, cause the coupling between coil and the earth to change, bring error to the electromagnetic data of measuring, therefore very important to the real-time detection of Z component receiving coil attitude in flight course.
Summary of the invention:
The object of the invention is to for the deficiencies in the prior art, a kind of aviation coil inertial navigation unit that is applicable to detect the Fusion of single rotor unmanned helicopter ZTEM airborne electromagnetic survey is provided.
The object of the invention is to realize in the following manner:
The aviation coil inertial navigation unit of Fusion, to tie up to single rotor unmanned helicopter 1 bilge by hanging rope 2 upper ends, hanging rope 2 lower end equal angles tie up on cross bracket 4, cross bracket 4 supports Z component receiving coil 3, the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 are fixed on Z component receiving coil 3 equally spacedly, the first attitude sensor 10, the second attitude sensor 11 formation that is connected with the attitude data acceptance system 7 that is fixed on cross bracket center through signal transmssion line 6 with the 3rd attitude sensor 12.
Attitude data acceptance system 7 is through single-chip microcomputer 14, to be connected respectively GPS13 and storer 15 with the 3rd attitude sensor 12 by the first attitude sensor 10, the second attitude sensor 11, single-chip microcomputer 14 is provided with synchronous clock pulse, when single-chip microcomputer 14 and GPS13 loss signal contact, attitude data acceptance system 7 is switched to synchronous clock pulse immediately, storer 15 adopts portable SD storage card, by SPI interface and single-chip microcomputer 14, connects and composes.
Each attitude sensor forms by a MEMS three-axis gyroscope, a MEMS three axis accelerometer and MEMS tri-axle magnetoresistive transducers.
The first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 gather the oscillating air attitude parameter of Z component receiving coil 3, and send attitude parameter timesharing to single-chip microcomputer 14, single-chip microcomputer 14 adopts extended pattern Kalman filtering algorithm to the first attitude sensor 10, the attitude parameter of the second attitude sensor 11 and the 3rd attitude sensor 12 outputs carries out filtering, calculate aviation coil attitude deflection angle, GPS13 is transferred to single-chip microcomputer 14 by transmission line by time synchronizing signal, single-chip microcomputer 14 is transferred to storer 15 in the lump by time synchronizing signal and aviation coil attitude deflection angle data.
Beneficial effect: adopt three attitude sensors to be fixed on equally spacedly aviation coil, each attitude sensor forms by a MEMS three-axis gyroscope, a MEMS three axis accelerometer and MEMS tri-axle magnetoresistive transducers.By the sensor of three types is combined, when guaranteeing to obtain good dynamic stability, compensated the error drift that MEMS three-axis gyroscope brings, suppress MEMS three axis accelerometer and dynamically exported the high frequency interference of existence, solve the problem of MEMS tri-axle magnetoresistive transducer bad dynamic performance, promote the robustness of single rotor unmanned helicopter ZTEM airborne electromagnetic survey device.Simultaneously, adopt extended pattern Kalman filtering algorithm to carry out data fusion to the attitude information of each MEMS sensor output, calculate high-precision aviation coil attitude deflection angle, magnetic field data is compensated to calibration, improve the detection accuracy of single rotor unmanned helicopter ZTEM airborne electromagnetic survey device.Aviation coil inertial navigation unit demountable structure, reduces weight, convenient transportation.
Accompanying drawing explanation:
The aviation coil inertial navigation unit schematic diagram of Fig. 1 Fusion
The inner connection diagram of Fig. 2 inertial navigation unit
1 single rotor unmanned helicopter, 2 hanging ropes, 3Z component receiving coil, 4 cross brackets, 7 attitude data acceptance systems, the one 10 attitude sensor, the 2 11 attitude sensor, 12 the 3rd attitude sensors
Embodiment:
Below in conjunction with drawings and Examples, the present invention is described in further detail:
The aviation coil inertial navigation unit of Fusion, to tie up to single rotor unmanned helicopter 1 bilge by hanging rope 2 upper ends, hanging rope 2 lower end equal angles tie up on cross bracket 4, cross bracket 4 supports Z component receiving coil 3, the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 are fixed on Z component receiving coil 3 equally spacedly, attitude sensor 10, attitude sensor 11 and attitude sensor 12 formation that is connected with the attitude data acceptance system 7 that is fixed on cross bracket center through signal transmssion line 6.
Attitude data acceptance system 7 is through single-chip microcomputer 14, to be connected respectively GPS13 and storer 15 with the 3rd attitude sensor 12 by the first attitude sensor 10, the second attitude sensor 11, single-chip microcomputer 14 is provided with synchronous clock pulse, when single-chip microcomputer 14 and GPS13 loss signal contact, attitude data acceptance system 7 is switched to synchronous clock pulse immediately, storer 15 adopts portable SD storage card, by SPI interface and single-chip microcomputer 14, connects and composes.
Each attitude sensor forms by a MEMS three-axis gyroscope, a MEMS three axis accelerometer and MEMS tri-axle magnetoresistive transducers.
The first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 gather the oscillating air attitude parameter of Z component receiving coil 3, and send attitude parameter timesharing to single-chip microcomputer 14, single-chip microcomputer 14 adopts extended pattern Kalman filtering algorithm to the first attitude sensor 10, the attitude parameter of the second attitude sensor 11 and the 3rd attitude sensor 12 outputs carries out filtering, calculate aviation coil attitude deflection angle, GPS13 is transferred to single-chip microcomputer 14 by transmission line by time synchronizing signal, single-chip microcomputer 14 is transferred to storer 15 in the lump by time synchronizing signal and aviation coil attitude deflection angle data.
Z component receiving coil 3, by enameled wire coiling, is wound around also ground connection through copper strips and carries out after interference shielding, adopts glass reinforced plastic pipe to encapsulate, and utilizes cross support 4 fastening after encapsulation, by hanging rope 2, hangs in single rotor unmanned helicopter 1 bottom.Z component receiving coil 3 shapes can be circle or regular polygon.Described the first attitude sensor 10, the second attitude sensor 11 and a 3rd attitude sensor 12 homogeneous MEMS three-axis gyroscope, a MEMS three axis accelerometer and MEMS tri-axle magnetoresistive transducers form, adopt aluminum hull enclosed, through detachable beam, be fixed on equally spacedly Z component receiving coil 3, in the mode of ground connection, carry out interference shielding.Attitude data acceptance system 7 is fixed on cross support 4 centers through firm banking, and is connected by data cable with the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 output terminals.Attitude data acceptance system 7 comprises GPS13, single-chip microcomputer 14 and storer 15.
As shown in Figure 1, hanging rope 2 upper ends tie up to single rotor unmanned helicopter 1 bilge, hanging rope 2 lower end equal angles tie up to cross bracket 4, cross bracket 4 supports Z component receiving coil 3, attitude sensor 10, attitude sensor 11 and attitude sensor 12 are fixed on Z component receiving coil 3, the first attitude sensors 10 equally spacedly, the second attitude sensor 11 is connected with the attitude data acceptance system 7 that is fixed on cross bracket center through signal transmssion line 6 with the 3rd attitude sensor 12.
As shown in Figure 2, attitude data acceptance system 7 comprises GPS13, single-chip microcomputer 14 and storer 15.The first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 gather the oscillating air attitude parameter of Z component receiving coil 3, and send attitude parameter timesharing to single-chip microcomputer 14.Single-chip microcomputer 14 adopts extended pattern Kalman filtering algorithm to process the attitude parameter of the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 outputs, calculates high-precision aviation coil attitude deflection angle.GPS13 is transferred to single-chip microcomputer 14 by transmission line by time synchronizing signal.Single-chip microcomputer 14 is transferred to storer 15 in the lump by time synchronizing signal and high-precision aviation coil attitude deflection angle data.
In single rotor unmanned helicopter take-off venue, assemble single rotor unmanned helicopter ZTEM airborne electromagnetic survey device, adopt nylon rope as hanging rope 2, Z component receiving coil 3 to be connected with single rotor unmanned helicopter 1, and attitude data acceptance system 7 is fixed on to cross support 4 centers, attitude sensor 10, attitude sensor 11 and attitude sensor 12 are fastening to be fastened on Z component receiving coil 3 equally spacedly.Before single rotor unmanned helicopter takes off, need inertial navigation unit electrifying startup, the Z component receiving coil of horizontal mode is carried out to attitude demarcation, after having demarcated, can take off.In flight course, the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 gather the oscillating air attitude parameter of Z component receiving coil 3, and send attitude parameter timesharing to single-chip microcomputer 14 in attitude data acceptance system 7.Single-chip microcomputer 14 adopts extended pattern Kalman filtering algorithm to carry out filtering to the attitude parameter of the first attitude sensor 10, the second attitude sensor 11 and the 3rd attitude sensor 12 outputs, calculates high-precision Z component receiving coil attitude deflection angle.GPS13 is transferred to single-chip microcomputer 14 by transmission line in real time by time synchronizing signal.Single-chip microcomputer 14 is transferred to storer 15 in the lump by time synchronizing signal and high-precision Z component receiving coil attitude deflection angle data.Single-chip microcomputer 14 has the inner synchronous clock pulse of high precision, and when single-chip microcomputer 14 and GPS13 loss signal contact, attitude data acceptance system 7 adopts the inner synchronous clock pulse of high precision.After flight finishes, by the Z component receiving coil attitude data collecting in-flight with take off before nominal data compare, calculate the real-time angle of pitch and the angle of oscillation of Z component receiving coil in flight course, according to aviation electromagnetic response expression formula, magnetic field data is compensated to calibration, improve the detection accuracy of single rotor unmanned helicopter ZTEM airborne electromagnetic survey device.
Claims (4)
1. the aviation coil inertial navigation unit of a Fusion, it is characterized in that, to tie up to single rotor unmanned helicopter (1) bilge by hanging rope (2) upper end, hanging rope (2) lower end equal angles ties up on cross bracket (4), cross bracket (4) supports Z component receiving coil (3), the first attitude sensor (10), the second attitude sensor (11) and the 3rd attitude sensor (12) are fixed on Z component receiving coil (3) equally spacedly, attitude sensor (10), attitude sensor (11) formation that is connected with the attitude data acceptance system (7) that is fixed on cross bracket center through signal transmssion line (6) with attitude sensor (12).
2. according to the aviation coil inertial navigation unit of Fusion claimed in claim 1, it is characterized in that, attitude data acceptance system (7) is by attitude sensor (10), attitude sensor (11) is connected respectively GPS (13) and storer (15) with attitude sensor (12) through single-chip microcomputer (14), single-chip microcomputer (14) is provided with synchronous clock pulse, when single-chip microcomputer (14) contacts with GPS (13) loss signal, attitude data acceptance system (7) is switched to synchronous clock pulse immediately, storer (15) adopts portable SD storage card, by SPI interface and single-chip microcomputer (14), connect and compose.
3. according to a kind of aviation coil inertial navigation unit based on MEMS Fusion claimed in claim 1, it is characterized in that, each attitude sensor forms by a MEMS three-axis gyroscope, a MEMS three axis accelerometer and MEMS tri-axle magnetoresistive transducers.
4. the collecting method of the aviation coil inertial navigation unit of a Fusion, it is characterized in that, the first attitude sensor (10), the second attitude sensor (11) and the 3rd attitude sensor (12) gather the oscillating air attitude parameter of Z component receiving coil (3), and send attitude parameter timesharing to single-chip microcomputer (14), single-chip microcomputer (14) adopts extended pattern Kalman filtering algorithm to the first attitude sensor (10), the attitude parameter of the second attitude sensor (11) and the output of the 3rd attitude sensor (12) carries out filtering, calculate aviation coil attitude deflection angle, GPS (13) is transferred to single-chip microcomputer (14) by transmission line by time synchronizing signal, single-chip microcomputer (14) is transferred to storer (15) in the lump by time synchronizing signal and aviation coil attitude deflection angle data.
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| CN201410273811.9A CN104019812B (en) | 2014-06-18 | 2014-06-18 | Multi-sensor data fused aviation coil inertial navigation device |
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Cited By (12)
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| CN105571585A (en) * | 2014-10-20 | 2016-05-11 | 霍尼韦尔国际公司 | System and method for isolating attitude failures in aircraft |
| CN105783853A (en) * | 2016-03-03 | 2016-07-20 | 浙江大学 | Deformation monitoring system of cable for underwater carrier positioning |
| CN107450109A (en) * | 2017-06-16 | 2017-12-08 | 吉林大学 | Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device |
| CN108037536A (en) * | 2017-11-27 | 2018-05-15 | 山东大学 | The half aviation transient electromagnetic receiving coil posture antidote based on three-axis reference |
| CN108120439A (en) * | 2017-12-21 | 2018-06-05 | 北华航天工业学院 | A kind of three-component induction coil attitude measurement method and device |
| CN108572394A (en) * | 2017-11-27 | 2018-09-25 | 山东大学 | Half aviation transient electromagnetic receiving coil posture recording device and posture antidote |
| CN108680961A (en) * | 2018-04-03 | 2018-10-19 | 山东大学 | A kind of UAV flight's transient electromagnetic probe apparatus and method for loading |
| CN110062879A (en) * | 2016-12-23 | 2019-07-26 | 瑞得力特克纳股份公司 | The monitoring sensor of rope for cableway system |
| CN111158036A (en) * | 2020-01-16 | 2020-05-15 | 吉林大学 | Nacelle attitude real-time measurement, calculation and monitoring device |
| CN113636075A (en) * | 2021-08-23 | 2021-11-12 | 郑州铁路职业技术学院 | Bridge monitoring data checking and transmitting device and method |
| CN115201922A (en) * | 2022-06-28 | 2022-10-18 | 中国科学院地质与地球物理研究所 | Semi-aeroelectromagnetic apparent resistivity measurement system and method |
| WO2024098526A1 (en) * | 2022-11-11 | 2024-05-16 | 中国科学院地质与地球物理研究所 | Device and processing method for attitude error cancellation of half-airborne electromagnetic system |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571585A (en) * | 2014-10-20 | 2016-05-11 | 霍尼韦尔国际公司 | System and method for isolating attitude failures in aircraft |
| CN105571585B (en) * | 2014-10-20 | 2020-11-06 | 霍尼韦尔国际公司 | System and method for isolating attitude faults in aircraft |
| CN105783853A (en) * | 2016-03-03 | 2016-07-20 | 浙江大学 | Deformation monitoring system of cable for underwater carrier positioning |
| CN105783853B (en) * | 2016-03-03 | 2018-05-15 | 浙江大学 | A kind of deformation monitoring system of hawser available for underwater vehicles positioning |
| CN110062879A (en) * | 2016-12-23 | 2019-07-26 | 瑞得力特克纳股份公司 | The monitoring sensor of rope for cableway system |
| CN107450109A (en) * | 2017-06-16 | 2017-12-08 | 吉林大学 | Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device |
| CN108037536A (en) * | 2017-11-27 | 2018-05-15 | 山东大学 | The half aviation transient electromagnetic receiving coil posture antidote based on three-axis reference |
| CN108037536B (en) * | 2017-11-27 | 2019-04-26 | 山东大学 | The half aviation transient electromagnetic receiving coil posture antidote based on three-axis reference |
| CN108572394A (en) * | 2017-11-27 | 2018-09-25 | 山东大学 | Half aviation transient electromagnetic receiving coil posture recording device and posture antidote |
| CN108120439A (en) * | 2017-12-21 | 2018-06-05 | 北华航天工业学院 | A kind of three-component induction coil attitude measurement method and device |
| CN108680961A (en) * | 2018-04-03 | 2018-10-19 | 山东大学 | A kind of UAV flight's transient electromagnetic probe apparatus and method for loading |
| CN108680961B (en) * | 2018-04-03 | 2020-07-31 | 山东大学 | Unmanned aerial vehicle transient electromagnetic probe carrying device and carrying method |
| CN111158036A (en) * | 2020-01-16 | 2020-05-15 | 吉林大学 | Nacelle attitude real-time measurement, calculation and monitoring device |
| CN111158036B (en) * | 2020-01-16 | 2023-02-21 | 吉林大学 | Nacelle attitude real-time measurement, calculation and monitoring device |
| CN113636075A (en) * | 2021-08-23 | 2021-11-12 | 郑州铁路职业技术学院 | Bridge monitoring data checking and transmitting device and method |
| CN115201922A (en) * | 2022-06-28 | 2022-10-18 | 中国科学院地质与地球物理研究所 | Semi-aeroelectromagnetic apparent resistivity measurement system and method |
| WO2024098526A1 (en) * | 2022-11-11 | 2024-05-16 | 中国科学院地质与地球物理研究所 | Device and processing method for attitude error cancellation of half-airborne electromagnetic system |
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