CN104678448B - Magnetic disturbance component compensation method based on laser beam and reflective mirror - Google Patents

Abstract

The invention belongs to Magnetic Measurement Technology field, it is related to a kind of magnetic disturbance component compensation method based on laser beam and reflective mirror, including step：(S1) Three dimensional rotation platform is set up, Magnetic Sensor and regular hexahedron reflective mirror, and two generating lasers of setting on the outside of rotatable platform are set；(S2) by adjusting rotatable platform attitude, the true component measurement value of Magnetic Sensor under original state is obtained；(S3) keep turntable attitude constant, jamming equipment is installed, obtain under initial attitude, Magnetic Sensor interference components measured value；(S4) rotatable platform is adjusted, it is ensured that become between each attitude and turn to 90 degree；Obtain the interference components measured value of Magnetic Sensor under N group attitudes；And calculate the true component value after each 90 degree of attitudes vibration；(S5) soft magnetism interference and the Hard Magnetic interference parameter of jamming equipment are calculated：(S6) the magnetic-field component value after the compensation of jamming equipment interference components is calculated.Compensate only for disturbing the deficiency of scalar instant invention overcomes scalar method, realize that interference components are compensated.

Description

Magnetic disturbance component compensation method based on laser beam and reflective mirror

Technical field

The invention belongs to Magnetic Measurement Technology field, and in particular to a kind of magnetic disturbance component based on laser beam and reflective mirror is mended Compensation method.

Background technology

Magnetic sensor is inevitable to need together to install with magnetic disturbance equipment in application process.May in equipment Comprising magnetic materials such as thin film alloys, steel materials, these materials constantly cut the earth's magnetic field magnetic line of force in the measurements, by continuous magnetic Change, produce interference magnetic field, influence magnetic-field measurement.Therefore research equipment interference compensation technology, particularly component compensation technology, to carrying High magnetic component measuring system precision is significant.

Fixed magnetic field, induced field have had related scholar to be studied as the main source of interference.At present extensively The field compensation method of use mainly has the magnetic compensation method based on Tolles-Lawson equations, the magnetic based on ellipse hypothesis to mend Compensation method etc..Magnetic compensation technology (Bickel S H.Error Analysis ofan based on Tolles-Lawson equations Algorithm for Magnetic Compensation of Aircraft[J].IEEE Transactions on Aerospace and Electronic System,1979,AES-15(5):620-626.Bickel S H.Small Signal Compensation of Magnetic Fields Resulting from Aircraft Maneuvers[J] .IEEE Transactions on Aerospace and Electronic System,1979,AES-15(4):518- 525.) comparative maturity, is widely used in magnetic air interference compensation, and compensation equation, which includes three Hard Magnetic interference coefficients, 5 soft magnetisms, to be done Coefficient and 8 vortex interference coefficients are disturbed, but only magnetic field intensity scalar is compensated, magnetic disturbance component compensation is not suitable for.Enter Enter after 21st century, with flourishing for magnetic sensor, some scholars are to the component compensation side that is constrained based on scalar Method is studied.Mainly New York Univ USA and University of California.Gebre-Egziabher etc. proposes one kind not The Two-step estimation algorithm of external reference is needed, the output trajectory of the three axis magnetometer based on errorless difference measurements meets ellipsoid constraint Principle, correct three axis magnetometer zero drift, Hard Magnetic mushing error and scale factor error.They then separately design again Magnetic field Self-Tuning Algorithm (Gebre-Egziabher based on Iterative Method and batch processing least-squares estimation algorithm D.Magnetometer Autocalibration Leveraging Measurement Locus Constraints[J] .Journal of Aircraft,2007,44(4):1361-1368).2011, Foster etc. pushed away Two-step estimation algorithm Extensively, correction (Foster C C, the Elkaim G H.Extension of a two-step to non-orthogonal errors are added calibration methodology to include nonorthogonal sensor axes[J].IEEE Transactions on Aerospace and Electronic Systems,2008,44(3):1070-1078)。 Vasconcelos etc. points out that the measurement error estimation problem of magnetometer can be exchanged into ellipsoid rotation, change of scale and translation The estimation problem of conversion, and devise based on maximum likelihood estimation algorithm magnetic field Self-Tuning Algorithm (Vasconcelos J F, Elkaim G,Silvestre C,Oliveira P,Cardeira B,A geometric approach to strapdown magnetometer calibration in sensor frame[J],IEEE Transactions on Aerospace Eletrical System,2011,47:1293-1305).However, the essence of these component compensation methods is still based on scalar constraint Thought, is actually to export the scalar calculated to component to enter row constraint.

Domestic many institutes and school have also carried out interference compensation correlative study, wherein Harbin Engineering University, in Beijing University, engineering university of the Second Artillery Force, naval engineering university etc. have carried out carrier magnetic field for research object with aircraft, guided missile etc. and mended Repay research.Zhang Xiaoming of Northcentral University etc. approximately regards magnetic-field measurement track as an ellipse, using minimum according to ellipse hypothesis Least square method carries out parameter identification, while having carried out simulating, verifying (Zhang Xiaoming, novel carriers magnetic of Zhao Yan based on ellipse restriction Field demarcation and compensation technique [J] Chinese journal of scientific instrument, 2009,30 (11):2438-2443).The Pang Xueliang of naval engineering university, The Research foundation based on Tolles and Lawson such as Lin Chunsheng, establishes the aircraft magnetic field Mathematical Modeling of multi-parameter, has carried out and has flown The research of truncated singular value decomposition method (Pang Xueliang, the Lin Chunsheng, section of a peaceful aircraft magnetic fields model coefficient of machine magnetic field model coefficient Disconnected singular value decomposition method estimation [J] detections and control journal, 2009,31 (5):48-51).Appeal method is also belonged to based on mark Measure the interference compensation method of constraint, it is impossible to suitable for component compensation.

In terms of earth magnetism vector system error compensation, Zhang Qi et al. has applied for national inventing patent (application number： 201410477818.2, a kind of earth magnetism vector measurement error synthesis compensation method based on linear model, the day for announcing：2014 9 The moon 18).Measurement is subjected to multiple attitude upsets, multigroup equipment attitude value measured value and Magnetic Sensor three-component magnetic field is obtained Value.System of linear equations is set up, mushing error model parameter is solved according to the principle of least square, to interference magnetic field and non-aligned angle Error carries out comprehensive compensation.The method requires that equipment accurately provides attitude measurement value, and needs to inquire about global geomagnetic model, obtains Take local ground magnetic vector.But global geomagnetic model has deviation, deviation is generally more than 20nT, and certain areas deviation exceedes 200nT, influences compensation precision；In addition, equipment attitude measurement accuracy equally influences compensation precision.

To sum up, there are the following problems for the above method：(1) endeavour to study the total amount compensation process of magnetic disturbance both at home and abroad, to magnetic Interference components compensation method research is less.(2) component error compensation aspect is, it is necessary to accurately provide attitude information, and need It is accurate to obtain local ground magnetic vector actual value.At present, a kind of easy and effective, few to extraneous information requirement ground magnetic vector system is lacked System interference components compensation method.

The content of the invention

The technical problem to be solved in the present invention is that：The technical problem existed for prior art, the present invention provides one Plant simple principle, easy realization, component compensation method of the easy to operate, compensation effect significantly for equipment magnetic disturbance.

Concrete technical scheme is as follows：A kind of magnetic disturbance component compensation method based on laser beam and reflective mirror, including it is following Step：

(S1) Three dimensional rotation platform is set up, is placed on rotatable platform and Magnetic Sensor and regular hexahedron reflective mirror is set, and Two generating lasers are set on the outside of rotatable platform, and two laser is vertical, and laser beam is at two of the regular hexahedron On adjacent vertical face；

(S2) by adjusting rotatable platform attitude, it is ensured that the laser beam of two generating lasers passes through regular hexahedron reflective mirror After reflection, respectively according to backtracking, the true component measurement value of Magnetic Sensor under original state is obtained；

(S3) keep turntable attitude constant, jamming equipment is installed, obtain under initial attitude, the measurement of Magnetic Sensor interference components Value；

(S4) rotatable platform is adjusted, passes through laser beam and speculum, it is ensured that becomes between each attitude and turns to 90 degree；Obtain N The interference components measured value of Magnetic Sensor under group attitude；And according to the true component measurement value of Magnetic Sensor under original state, meter Calculate the true component value after each 90 degree of attitudes vibration；Wherein N is integer；

(S5) every group of true component value in magnetic field and interference components measured value, calculate the Hard Magnetic and soft magnetism interference ginseng of jamming equipment Number is expressed as following formula：

Wherein, r_xx,r_xy,r_xz,r_yx,r_yy,r_yz,r_zx,r_zy,r_zzFor the soft magnetism interference parameter of jamming equipment, b_x,b_y,b_zFor Hard Magnetic interference parameter, H_x,H_y,H_zFor the true component value in magnetic field, B_x,B_y,B_zFor Magnetic Sensor interference components measured value；

According to the component measurement value after N group magnetic-field component actual values and the equipment interference that is interfered,

One group of measured value can set up 3 equations, and N groups measured value has 3N equation, according to 3N equation in formula (2), System of linear equations is solved, soft magnetism interference and the Hard Magnetic interference parameter of jamming equipment is calculated：

(S6) according to the soft magnetism and Hard Magnetic interference parameter calculated in step (S5), jamming equipment interference components benefit is calculated Magnetic-field component value after repaying：

P_x,P_y,P_zFor the magnetic-field component value after compensation.After component compensation, then magnetic component measurement essence can be effectively improved Degree.

Compared with prior art, the advantage of the invention is that：1st, compensation method of the invention, overcomes traditional scalar method only The deficiency of interference scalar can be compensated, the component compensation method of proposition can accurately calculate each soft magnetism and Hard Magnetic parameter, realize interference point Amount compensation.2nd, compensation method of the invention, establishes system of linear equations, parameter calculates simple, it is to avoid join in scalar penalty method The problem of number couples and there is high-order term.3rd, compensation method of the invention, it is only necessary to measure once true component value in initial attitude, Due to each 90 degree of attitudes vibration, the true component value of other attitudes can be obtained naturally, measured without multiple true component value.5th, originally Invention compensation method, without providing the auxiliary informations such as the attitude angle between Magnetic Sensor and geographic coordinate system, without acquisition ground Earth's magnetic field under coordinate system is managed to be worth.

Brief description of the drawings

Fig. 1 is the schematic flow sheet of the present invention；

Fig. 2 is each component locations schematic diagram of present system；

Fig. 3 is schematic diagram when not installing jamming equipment in concrete application example；

Fig. 4 is the schematic diagram of multi-pose upset.

Marginal data：

1st, first generating laser；2nd, second generating laser；3rd, Magnetic Sensor；4th, jamming equipment；5th, magnetic is sensed Device coordinate system (reference axis X, Y, Z)；6th, earth's magnetic field；7th, first adjusting knob；8th, second adjusting knob；9th, the 3rd adjusting knob； 10th, turntable mounting surface；11st, regular hexahedron reflective mirror；12nd, laser beam coordinate system (reference axis X ', Y ', Z ')；13rd, first isolation Plate；14th, second division board.

Embodiment

The present invention is described in further details below with reference to Figure of description and specific embodiment.

The present invention is for the component compensation method of jamming equipment magnetic disturbance：Set up Three dimensional rotation platform, first laser Transmitter 1 and second generating laser 2, two laser are vertical, place rotatable platform regular hexahedron reflective mirror 11；Laser passes through Regular hexahedron reflective mirror 11 reflects, if transmitting light beam and reflective mirror out of plumb, the reflection light velocity can reflex to first every From plate 13 and second division board 14；By adjusting turntable attitude, it is ensured that light beam can reflect according to former road, then first division board 13 and second division board 14 on without luminous point, obtain under initial attitude, the measured value of Magnetic Sensor 3 under noiseless situation；Keep turning Platform attitude is constant, installs jamming equipment 4, obtains under initial attitude, the measured value of Magnetic Sensor 3 under disturbed condition；In initial attitude On the basis of, first adjusting knob 7 of regulation turntable, second adjusting knob 8 and the 3rd adjusting knob 9, with reference to laser beam and reflective mirror 11, it is ensured that (Magnetic Sensor, jamming equipment, six face speculums are fixed on rotatable platform to 90 degree of each attitudes vibration of Magnetic Sensor 3 On, adjustment button ensures that whole platform is rotated, i.e., several parts are rotated simultaneously)；Obtain the component being interfered under multigroup attitude Measured value；Due to each 90 degree of attitudes vibration, real projection component value can be calculated by the true component value of initial attitude.According to magnetic The true component value in field and the component value being disturbed, solve system of linear equations, calculate Hard Magnetic and soft magnetism interference parameter, realize and disturb Component compensation.

As shown in figure 1, in concrete application example, the specific implementation step of the inventive method is：

1. Three dimensional rotation platform, first generating laser 1 and second generating laser 2 are set up, two laser is vertical, Place regular hexahedron reflective mirror 11.

2. laser reflects by regular hexahedron reflective mirror 11, if transmitting light beam and reflective mirror out of plumb, reflected light Speed can reflex to first division board 13 and second division board 14；By adjusting first adjusting knob 7 and second adjusting knob 8, adjust turntable attitude, it is ensured that first light beam of laser generator 1 can reflect according to former road, when first division board 13 is unglazed Point, then can ensure reflective mirror and first beam orthogonal of laser generator 1；Then, it is only necessary to by adjusting the 3rd adjusting knob 9, when second division board 14 is without luminous point, then it can ensure reflective mirror and second beam orthogonal of laser generator 2；Magnetic is placed to pass Sensor, such as Fig. 3, are obtained under initial attitude, the measured value H of Magnetic Sensor 3 under noiseless situation_x1,H_y1,H_z1。

3. keep turntable attitude constant, jamming equipment 4 is installed, as shown in Fig. 2 obtaining under initial attitude, is interfered The measured value B of Magnetic Sensor 3_x1,B_y1,B_z1。

4. on the basis of initial attitude, first adjusting knob 7 of regulation turntable, second adjusting knob 8 and the 3rd adjusting knob 9, with reference to laser beam and reflective mirror 11, it is ensured that 90 degree of each attitudes vibration of Magnetic Sensor 3；Due to each 90 degree of attitudes vibration, Projection components actual value can pass through the true component value H of initial attitude_x1,H_y1,H_z1Calculate.Turn clockwise around X-axis on initial attitude When dynamic 90 degree, it is known that the true component projection value in earth's magnetic field is H under magnetic sensor coordinate system_x1,-H_z1,H_y1, it is interfered Magnetic sensor 3 three axle output valves be B_x2,B_y2,B_z2；When rotating clockwise 180 degree around X-axis on initial attitude, The true component projection value for understanding magnetic sensor earth's magnetic field is H_x1,-H_y1,-H_z1, the magnetic sensor 3 being interfered Three axle output valves are B_x3,B_y3,B_z3.The component measurement value being interfered under multigroup attitude is obtained, (portion is only provided as shown in Figure 4 Divide attitude, can be according to these attitude duplicate measurements；Attitude is corresponding with Fig. 4 in the present embodiment, i.e., corresponding with the value in table 1), the Three axle output valves of magnetic sensor 3 are B under N number of attitude_xN,B_yN,B_zN, due to each 90 degree of attitudes vibration, real projection Component value can be calculated by the true component value of initial attitude.

5. according to the true component value in magnetic field and the component measurement value being interfered, system of linear equations is solved, Hard Magnetic is calculated With soft magnetism interference parameter, realize that interference components are compensated.Equipment interference can be divided into soft magnetism and Hard Magnetic interference, and interference model can be represented For：

Wherein r_xx,r_xy,r_xz,r_yx,r_yy,r_yz,r_zx,r_zy,r_zzFor equipment soft magnetism interference parameter, b_x,b_y,b_zDisturbed for Hard Magnetic Parameter.H_x,H_y,H_zFor magnetic field real projection value, B_x,B_y,B_zFor Magnetic Sensor measured value.

Measured value after being disturbed according to N groups magnetic-field component real projection value and by equipment, can set up linear in formula (2) Equation group, one group of measured value can set up 3 equations, and N groups measured value has 3N equation, according to 3N equation, solve linear equation Group, estimates the interference of equipment soft magnetism and Hard Magnetic interference parameter.

Because unknown parameter is 12,4 groups of measured values are at least needed.When measured value is more than 5 groups, equation group is overdetermination, The system of linear equations is solved using classical least square method, the solution of this method, all equation groups are unsatisfactory for, but the solution is full The root-mean-square error of sufficient equation group is minimum.

6. according to the soft magnetism and Hard Magnetic interference parameter calculated in formula (2), by formula (3), equipment interference point can be calculated Magnetic-field component value after amount compensation.

P_x,P_y,P_zFor the magnetic-field component value after compensation, after component compensation, then magnetic component measurement essence can be effectively improved Degree.

Below, the present invention is described in further details in conjunction with specific embodiments.

Preset jamming equipment soft magnetism and Hard Magnetic interference parameter is：

1. Magnetic Sensor measurement noise is that average is zero, and standard deviation is 2nT white noise.Magnetic field is in Magnetic Sensor coordinate system Real projection value such as table 1.Magnetic Sensor is by after magnetic disturbance, actual measured value such as table 2.

Magnetic field actual value (the unit of table 1.:nT)

Attitude	X-axis	Y-axis	Z axis
				1	31347.2	-31400.7	-19490.6
2	31347.2	19490.6	-31400.7
				3	31347.2	31400.7	19490.6
4	31347.2	-19490.6	31400.7
				5	19490.6	-31400.7	31347.2
6	-31347.2	-31400.7	19490.6
				7	-19490.6	-31400.7	-31347.2
8	31400.7	31347.2	-19490.6
				9	-31347.2	31400.7	-19490.6
10	-31400.7	-31347.2	-19490.6

Measured magnetic field (the unit of table 2.:nT)

Attitude	X-axis	Y-axis	Z axis
				1	31417.91	-30125.1	-19133.3
2	31720.97	22140.9	-28650.2
				3	35013.11	32762.02	21190.09
4	34709.51	-19503.6	30706.83
				5	22018.93	-32243.2	29942.51
6	-32072.5	-34429.1	17424.39
				7	-22672.1	-32312.8	-31651.9
8	32729.57	33879.46	-16623.5
				9	-33154.6	30797.32	-17875.6
10	-34465.8	-33209.4	-20387.1

2. obtain after magnetic field actual value and actual measured value, system of linear equations is solved according to formula (2), interference ginseng can be estimated Number, estimated result is as follows：

Estimates of parameters is taken back into formula (3), then the component compensation of measured value, compensation result such as table 3 can be achieved.By with table Magnetic field real projection value in 1 compares, and can calculate the error after compensation, compensates error such as table 4, it is known that the multiple change attitudes in space The component error of measured value is less than 2nT：Understand, the component compensation method energy effective compensation earth magnetism vector system magnetic disturbance point of proposition Amount.

Component measurement value (unit after the compensation of table 3:nT)

Attitude	X-axis	Y-axis	Z axis
				1	31346.98	-31400.1	-19490.3
2	31346.67	19491.02	-31399.9
				3	31347.42	31400.09	19490.57
4	31347.23	-19490.6	31400.05
				5	19490.77	-31400.7	31347.73
6	-31347.7	-31400.2	19490.91
				7	-19490	-31401.3	-31347.6
8	31400.96	31346.89	-19491.3
				9	-31347.2	31401.28	-19490.3
10	-31400.7	-31347.8	-19491

Component error (unit after the compensation of table 4:nT)

Attitude	X-axis	Y-axis	Z axis
				1	-0.2185	0.602118	0.292522
2	-0.53486	0.418398	0.778037
				3	0.217308	-0.61151	-0.02742
4	0.02871	0.041055	-0.64899
				5	0.171686	-0.02992	0.526435
6	-0.4672	0.543315	0.308268
				7	0.575058	-0.59658	-0.38664
8	0.259166	-0.31325	-0.74757
				9	-0.04829	0.578191	0.267259
10	0.016924	-0.63182	-0.3619

It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention should be regarded as the protection of the present invention Scope.

Claims (1)

1. a kind of magnetic disturbance component compensation method based on laser beam and reflective mirror, its spy is being to comprise the following steps：

(S1) Three dimensional rotation platform is set up, is placed on rotatable platform and Magnetic Sensor and regular hexahedron reflective mirror is set, and is being turned Two generating lasers are set on the outside of moving platform, and two laser is vertical, and laser beam is adjacent at two of the regular hexahedron Vertical face on；

(S2) by adjusting rotatable platform attitude, it is ensured that the laser beam of two generating lasers passes through regular hexahedron mirror reflection Afterwards, respectively the true component measurement value of Magnetic Sensor under original state is obtained according to backtracking；

(S3) keep turntable attitude constant, jamming equipment is installed, obtain under initial attitude, Magnetic Sensor interference components measured value；

(S4) rotatable platform is adjusted, passes through laser beam and speculum, it is ensured that becomes between each attitude and turns to 90 degree；Obtain N group appearances The interference components measured value of Magnetic Sensor under state；And according to the true component measurement value of Magnetic Sensor under original state, calculate every True component value after secondary 90 degree of attitudes vibration；Wherein N is integer；

(S5) every group of true component value in magnetic field and interference components measured value, calculate the Hard Magnetic and soft magnetism interference parameter table of jamming equipment It is shown as following formula：

$\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]=\left[\begin{array}{ccc}{r}_{xx}& r_{xy}& r_{xz}\\ r_{yx}& r_{yy}& r_{yz}\\ r_{zx}& r_{zy}& r_{zz}\end{array}\right]\left[\begin{array}{c}{H}_x\\ H_y\\ H_z\end{array}\right]+\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]---\left(1\right)$

Wherein, r_xx,r_xy,r_xz,r_yx,r_yy,r_yz,r_zx,r_zy,r_zzFor the soft magnetism interference parameter of jamming equipment, b_x,b_y,b_zFor Hard Magnetic Interference parameter, H_x,H_y,H_zFor the true component value in magnetic field, B_x,B_y,B_zFor Magnetic Sensor interference components measured value；

According to the component measurement value after N group magnetic-field component actual values and the equipment interference that is interfered,

$\left\{\begin{array}{c}{B}_{x1}=r_{xx}{H}_{x1}+r_{xy}{H}_{y1}+r_{xz}{H}_{z1}+b_x\\ B_{y1}=r_{yx}{H}_{x1}+r_{yy}{H}_{y1}+r_{yz}{H}_{z1}+b_y\\ B_{z1}=r_{zx}{H}_{x1}+r_{zy}{H}_{y1}+r_{zz}{H}_{z1}+b_z\\ .\\ .\\ .\\ B_{xi}=r_{xx}{H}_{xi}+r_{xy}{H}_{yi}+r_{xz}{H}_{zi}+b_x\\ B_{yi}=r_{yx}{H}_{xi}+r_{yy}{H}_{yi}+r_{yz}{H}_{zi}+b_y\\ B_{zi}=r_{zx}{H}_{xi}+r_{zy}{H}_{yi}+r_{zz}{H}_{zi}+b_z\end{array}\right.,i=\mathrm{1...}N---\left(2\right)$

One group of measured value can set up 3 equations, and N groups measured value has 3N equation, according to 3N equation in formula (2), solve line Property equation group, calculate jamming equipment soft magnetism interference and Hard Magnetic interference parameter；

(S6) according to the soft magnetism and Hard Magnetic interference parameter calculated in step (S5), calculate after the compensation of jamming equipment interference components Magnetic-field component value：

$\left[\begin{array}{c}{P}_x\\ P_y\\ P_z\end{array}\right]={\left[\begin{array}{ccc}{r}_{xx}& r_{xy}& r_{xz}\\ r_{yx}& r_{yy}& r_{yz}\\ r_{zx}& r_{zy}& r_{zz}\end{array}\right]}^{-1}\[\left[\begin{array}{c}{B}_x\\ B_y\\ B_z\end{array}\right]-\left[\begin{array}{c}{b}_x\\ b_y\\ b_z\end{array}\right]\]---\left(3\right)$

P_x,P_y,P_zFor the magnetic-field component value after compensation.