CN104809352B - The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling - Google Patents
The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling Download PDFInfo
- Publication number
- CN104809352B CN104809352B CN201510236807.XA CN201510236807A CN104809352B CN 104809352 B CN104809352 B CN 104809352B CN 201510236807 A CN201510236807 A CN 201510236807A CN 104809352 B CN104809352 B CN 104809352B
- Authority
- CN
- China
- Prior art keywords
- helicopter
- magnetic
- gondola
- coordinate system
- under
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to the soft compensation field of the magnetic that navigates, more particularly to a kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling.A kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling is devised for the boat full tensor gradient pull-type metering system of magnetic, in terms of existing technologies, realize to the soft compensation of the full tensor gradient data of boat magnetic in the case of helicopter during aeromagnetic gradient survey and gondola posture, the equal dynamic change of relative position and helicopter magnetic field, and reduce relative error.
Description
Technical field
The invention belongs to the soft compensation field of the magnetic that navigates, more particularly to a kind of pull-type boat full tensor gradient number of magnetic based on forward modeling
According to soft compensation method.
Background technology
Boat magnetic it is soft compensation main purpose be eliminate magnetic airborne survey in aircraft due to self-field (stationary field, induction field and
Vortex field) and the influence to magnetic survey value such as flight attitude change.
Tradition boat magnetic full tensor gradiometry method is mainly using airborne by the way of, by aircraft itself magnetic disturbance and winged
Machine attitudes vibration etc. represents that measured value influence the coefficient of items interference is referred to as penalty coefficient, passes through study with system of linear equations
Flight obtains penalty coefficient and then eliminates its influence.Under this kind of metering system due to magnetic gradient measurements device and fuselage distance very
Closely, magnetic disturbance composition and its change are all sufficiently complex.With the research and development of the full tensor magnetic gradient measurements device of aviation, aviation
Magnetic survey mode is also developed into using the measurement of helicopter towed, this kind of measuring method advantage be magnetic gradient measurements device disembark body compared with
Far, helicopter magnetic disturbance is reduced, but is due to helicopter and full tensor magnetic gradient measurements device relative position in flight course
All the moment changes, and the method for conventional on-board formula magnetic compensation is not applied to simultaneously.The helicopter compensation in pull-type measurement in the past is joined in addition
Number is more to be asked for by surveying magnetic field value around fuselage on ground, and magnetic gradient measurements device is located at machine in actual measurement process
Below body, this compensating parameter ask for and compensation in terms of all there is larger error.
The content of the invention
In order to solve the above problems, the present invention provides a kind of soft benefit of the pull-type boat full tensor gradient data of magnetic based on forward modeling
Compensation method.A kind of full tensor ladder of pull-type boat magnetic based on forward modeling is devised for the boat full tensor gradient pull-type metering system of magnetic
The soft compensation method of degrees of data, in terms of existing technologies, is realized to helicopter during aeromagnetic gradient survey and gondola appearance
The soft compensation of the full tensor gradient data of boat magnetic in the case of state, the equal dynamic change of relative position and helicopter magnetic field, and reduce
Relative error.
In order to realize the above object the technical solution adopted by the present invention is：
A kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling, methods described is used to eliminate boat magnetic
Influence of the aircraft due to self-field and flight attitude change to magnetic survey value in measurement, it is characterised in that comprise the following steps：
Step 1) set up the boat full tensor gradiometry forward modeling compensation model of magnetic；
Step 2) according to step 1) the middle modelling study flight scenario progress study flight set up；
Step 3) according to above-mentioned steps 2) study flying quality, determine compensating parameter；
Step 4) utilize above-mentioned steps 3) in the compensating parameter that determines soft compensation is carried out to the full tensor gradient data of boat magnetic.
Preferentially, step 4) compensating parameter according to determination carries out soft compensation to the full tensor gradient data of boat magnetic includes
Once step：
Step 4.1) according to the compensating parameter of determination, analyze local under the influence of helicopter attitude, self-field change
Gondola position three-component and gradient tensor offset under horizontal coordinates；
Step 4.2) attitude information that is provided according to gondola, will boat magnetic tricomponent and gradient tensor actual measured value from gondola
Coordinate system correction is arrived under local horizontal coordinates, obtains correction value；
Step 4.3) according to above-mentioned steps 4.2) the boat magnetic tricomponent that draws and gradient tensor actual measured value sit from gondola
Correction value under mark system correction to local horizontal coordinates subtracts above-mentioned steps 4.1) analyze under the local horizontal coordinates drawn
Gondola position three-component and gradient tensor offset, determine compensation result.
Preferentially, step 2) the design learning flight scenario, three study Flight Designs of study flight scenario progress：
Study flight one, selectes calmness field regions H1One smooth flight；
Study flight two, it is alternative to allocate magnetostatic place H2Two smooth flights；
Study flight three, selectes variation magnetic field area H3Suitably maneuver is taken to fly.
Preferentially, the step 3) compensating parameter is including constant magnetic moment, sense magnetic parameter and is vortexed parameter.
Preferentially, the step goes out in helicopter attitude, itself magnetic according to compensating parameter and helicopter attitude information analysis
K-th of measuring point gondola position gradient tensor offset under local horizontal coordinates under the influence of the change of field：
The Bxx,Bxy,Bxz,Byx,Byy,Byz,Bzx,Bzy,BzzFor the full tensor ladder of k-th of measuring point under local horizontal coordinates
Degree, μ0For space permeability；X, y, z are respectively that k-th of measuring point is hung by origin of helicopter position under local horizontal coordinates
Freight space is put；Hx,Hy,HzThe upward external magnetic field value of respectively k-th measuring point x, y, z tripartite under helicopter coordinate system；The upward external magnetic field rate of change of respectively k-th measuring point x, y, z tripartite under helicopter coordinate system；T-1For
The corresponding helicopter attitude matrix T inverse matrixs of k measuring point, (T-1)TFor the transposed matrix of T inverse matrixs, α, beta, gamma is respectively the survey
The corresponding helicopter deviation angle of point, the angle of pitch and roll angle；Mxr,Myr,Mzr, eix,eiy,eiz, evx,evy,evzRespectively k-th
The upward constant magnetic moment of measuring point helicopter x, y, z tripartite under helicopter coordinate system, sense magnetic parameter, vortex parameter；Mx,My,MzRespectively
For the component in the total magnetic moment M of k-th of measuring point helicopter directions of x, y, z three under helicopter coordinate system.
Preferentially, the step 4.2) will boat magnetic tricomponent and gradient tensor actual measured value from gondola coordinate system correct to
Under local horizontal coordinates, pass through gondola posture changing matrix TcCarry out coordinate system correction, the TcThe gondola measured by a moment
Yaw angle αc, angle of pitch βcWith roll angle γcComposition：
It is describedFor matrix TcInverse matrix, TcGondola posture changing matrix；Hax_car、Hay_car、Za_carPassed through for gondola position
The three-component value crossed after gondola Attitude Correction；Bxx_car、Bxy_car、Bxz_car、Byx_car、Byy_car、Byz_car、Bzx_car、Bzy_car、
Bzz_carThe gradient tensor value for being gondola position after gondola Attitude Correction；Hax_measure、Hay_measure、Za_measure、
Bxx_measure、Bxy_measure、Bxz_measure、Byx_measure、Byy_measure、Byz_measure、Bzx_measure、Bzy_measure、Bzz_measure
For gondola actual measured value；Each point is compensated respectively according to the above-mentioned value drawn.
Preferentially, the compensating parameter is determined：
SHax3×M3=Hax_car3-Hax_r-Hax_i-Hx3
Wherein M1、M2The total magnetic moment of helicopter, M under helicopter coordinate system respectively in study flight one, study flight two3For
Helicopter vortex parameter in study flight three under helicopter coordinate system；Hx1,Hx2,Hx3It is column vector, respectively study flight
First, each measuring point corresponding earth's magnetic field X-direction component under local horizontal coordinates in two and three,Respectively Hx1,Hx2
Average value；SHax1With SHax2The respectively column matrix of n rows 3, n is measuring point sum；Hax_car1With Hax_car2Respectively study flight one
The value after gondola Attitude Correction is carried out with the measured data of study flight two；SHax3For the column matrix of n rows 3, n is measuring point sum；
Hax_car3The value after gondola Attitude Correction, H are carried out for measured dataax_rIt is helicopter stationary magnetic field and attitudes vibration to each measuring point
X-direction component H in three-componentaxThe interference value caused, Hax_iIt is helicopter induced field and attitudes vibration to each three points of measuring point
X-direction component H in amountaxThe interference value caused, Hx3For study flight three in each measuring point under local horizontal coordinates it is corresponding
Earth's magnetic field X-direction component, is the column matrix of n rows 1；
It can be drawn by above-mentioned expression formula：
The Mxr,Myr,Mzr, eix,eiy,eiz, evx,evy,evzRespectively helicopter x, y, z three under helicopter coordinate system
The constant magnetic moment in direction, sense magnetic parameter, vortex parameter；Mx1、My1、Mz1And Mx2、My2、Mz2The respectively total magnetic moment M of helicopter1、M2Straight
Rise the component in the direction of x, y, z three under machine coordinate system；WithThe respectively He of stabilizing magnetic field one
Ground magnetic tricomponent in stabilizing magnetic field two under helicopter coordinate system is in x, y, the average value on z directions.
Preferentially, the step 1) in compensation model be related to four kinds of coordinate systems, be helicopter coordinate system, gondola coordinate respectively
System, at helicopter be origin local horizontal coordinates, and the coordinate system that gps system is used；Four kinds of coordinate systems are equal
For three-dimensional system of coordinate.
Brief description of the drawings
Fig. 1 is that the present invention relates to provided in a kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling
The flight of boat magnetic full tensor gradiometry and each coordinate system schematic diagram；
Fig. 2 is that the present invention relates to a kind of pull-type boat soft compensation method flow of the full tensor gradient data of magnetic based on forward modeling
Figure.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is only used for explaining the present invention, not
For limiting the present invention.
On the contrary, the present invention covers any replacement done in the spirit and scope of the present invention being defined by the claims, repaiied
Change, equivalent method and scheme.Further, in order that the public has a better understanding to the present invention, below to the thin of the present invention
It is detailed to describe some specific detail sections in section description.Part without these details for a person skilled in the art
Description can also understand the present invention completely.
The embodiment of the present invention provides a kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling.
The boat complete soft compensation model of tensor gradient data of magnetic is according to circumstances set up first, and the compensation model includes four kinds of coordinates
System, is that (using cabin center as origin, it is prow direction that Y points to aircraft longitudinal direction to helicopter coordinate system respectively as described in Figure 1
(assuming that aircraft flies along local horizontal coordinates system Y-direction), then X-axis is the left direction of vertical prow, and Z and X, Y-axis are just
Hand over into right-handed coordinate system), gondola coordinate system (gondola position of centre of gravity be origin, XYZ axles define it is identical with helicopter coordinate system), directly
For the local horizontal coordinates of origin, (coordinate origin is overlapped with helicopter coordinate origin, and X-axis is pointed to local northern sub at the machine of liter
Noon line, Y-axis is perpendicularly oriented to east with X-axis, and Z axis and X, Y-axis are orthogonal into right-handed coordinate system), and the WGS-84 that gps system is used
Coordinate system (a kind of geocentric coordinate system used in the world, the origin of coordinates is earth centroid, its earth's core rectangular coordinate system in space it
Axle points to agreement earth pole (CTP) direction that BIH (international time) 1984.O is defined, and adjusts axle to point to BIH 1984.0 zero meridian
Face and the intersection point in CTP equator, Y-axis are vertically formed right-handed coordinate system, referred to as World Geodesic Coordinate System 1984 with Z axis, X-axis
System.).
A kind of pull-type boat soft compensation method main purpose of the full tensor gradient data of magnetic based on forward modeling is to eliminate
Aircraft is because self-field (stationary field, induction field and vortex field) and flight attitude conversion etc. are to magnetic survey value in magnetic airborne survey
Influence.
Helicopter magnetic disturbance is modeled, helicopter is equivalent to the spheroid or uniform magnetic of single uniform magnetization
The spherical array model of change, by taking the sphere model of single uniform magnetization as an example, Array Model principle is identical.Under aircraft axes
Compensating parameter includes constant magnetic moment, sense magnetic parameter and vortex parameter, wherein constant magnetic moment is respectively Mxr,Myr,Mzr, feel magnetic parameter
For eix,eiy,eiz, vortex parameter is evx,evy,evz, then the total magnetic moment in x directions beIts
Middle HxFor earth's magnetic field x durection components under helicopter coordinate system, dt is the sampling interval,Outside for x directions under helicopter coordinate system
Magnetic field is earth's magnetic field x-component rate of change, y and z directions magnetic moment MyAnd MzSimilarly.
The flight attitude conversion influenceed on magnetic survey value includes helicopter attitude conversion and gondola posture changing.The aircraft appearance
State conversion is related to three kinds of coordinate systems, including aircraft axes, gondola coordinate system, the local horizontal coordinate that helicopter position is origin
System.Gradient data result is carried out to above-mentioned three kinds of coordinate systems and is converted to the local horizontal coordinate that helicopter is in origin
Under system.
Assuming that aircraft is along local horizontal coordinates X-direction or Y-direction flight, then the three-component before and after helicopter attitude changes
And can be represented between gradient component with posture changing matrix T, T and the aircraft deviation angle, the angle of pitch are relevant with roll angle.So appoint
Meaning moment helicopter itself magnetic disturbance and helicopter attitude change are gondola position under the local coordinate system of origin to helicopter
Put the three-component (H at placeax,Hay,Za) and gradient tensor (Bxx,Bxy,Bxz,Byx,Byy,Byz,Bzx,Bzy,Bzz) influence that causes can table
It is shown as following form：
Wherein, Hax、Hay、ZaIt is the local level of origin to helicopter for the moment helicopter self-field and attitudes vibration
The three-component interference value caused under coordinate system at gondola position；Mx、My、MzIt is the total magnetic moment of moment helicopter in helicopter coordinate
Component on the lower x of system, y, tri- directions of z；S and T-1Expression formula is as follows
Wherein, μ0For space permeability, x, y, z is gondola position seat under the local horizontal coordinates that helicopter is origin
Mark, x ', y ', z ' are gondola position coordinates under helicopter coordinate system.T is helicopter attitude transformation matrix, T-1For its inverse matrix, α,
β, γ are the moment helicopter yaw angle, the angle of pitch and roll angle (defining angle to clockwise turn to just around axle).
Wherein, Bxx,Bxy,Bxz,Byx,Byy,Byz,Bzx,Bzy,BzzFor the moment helicopter self-field and attitudes vibration pair
Helicopter is each gradient tensor interference value for being caused under the local horizontal coordinates of origin at gondola position.T is helicopter attitude
Transformation matrix, (T-1)TFor the transposed matrix of its inverse matrix.μ0For space permeability, x, y, z is the local water that helicopter is origin
Gondola position coordinates under flat coordinate system, x ', y ', z ' are gondola position coordinates under helicopter coordinate system.Mx、My、MzIt is straight for the moment
Rise the component on tri- directions of the total magnetic moment of the machine x under helicopter coordinate system, y, z.
Gondola posture changing matrix T can be used between gradient component before and after gondola attitudes vibrationcRepresent, TcIt is inclined with gondola
To angle αc, angle of pitch βcWith roll angle γcRelevant, its expression-form is identical with helicopter attitude transformation matrix, Tc -1For TcInverse square
Battle array.Then gondola position three-component and gradient tensor correction are available under the local coordinate system by origin of helicopter a certain moment
Following formula is corrected：
Hax_car、Hay_car、Za_carThe three-component value for being gondola position after gondola Attitude Correction, Bxx_car、Bxy_car、
Bxz_car、Byx_car、Byy_car、Byz_car、Bzx_car、Bzy_car、Bzz_carFor gradient of the gondola position after gondola Attitude Correction
Value；Hax_measure、Hay_measure、Za_measure、Bxx_measure、Bxy_measure、Bxz_measure、Byx_measure、Byy_measure、
Byz_measure、Bzx_measure、Bzy_measure、Bzz_measureFor gondola actual measured value.
So, it can just be eliminated due to the interference of helicopter self-field and helicopter by being compensated respectively each point
With caused by gondola attitudes vibration on measured data influence.
According to the complete soft compensation model of tensor gradient data of the boat magnetic of foundation and specific flight progress design learning flight side
Case.
A kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling is provided in the present embodiment, is gone straight up to
Machine carries out three study flight respectively, including：
Study flight one：Selected calmness field regions H1One smooth flight；
Study flight two：It is alternative to allocate magnetostatic place H2Two smooth flights；
Study flight three：Selected variation magnetic field area H3Suitably maneuver is taken to fly.
According to the study flight scenario of design, compensating parameter is determined, the compensating parameter includes constant magnetic moment, sense magnetic parameter
With vortex parameter.
The study flight one：Under local horizontal coordinates each measuring point magnetic tricomponent be Hx1,Hy1,Hz1, in tranquil magnetic field
Rate of change of magnetic is ignored between two measuring points in region, and now helicopter is believed that X, and Y, the direction magnetic moments of Z tri- are constant.Utilize public affairs
Formula：
Wherein, SHax1For the column matrix of n rows 3, n is measuring point sum, and row k row vector is represented by：SHax1(k)=[T-1(1,
1) T-1(1,2) T-1(1,3)] × S, T-1With s-matrix expression-form reference formula (6) and formula (2),x,
Y, z are gondola position coordinates under local horizontal coordinates of k-th of measuring point i.e. by origin of helicopter, x ', y ', and z ' is k-th
Gondola position coordinates under measuring point helicopter coordinate system；T is helicopter attitude transformation matrix.M1It is total in magnetic field one for helicopter
Item is helicopter in the H produced by gondola position on the right of magnetic moment, the column matrix of 3 row 1, formula (14) equationaxInfluence value (Hax_car1For
Value after measured data progress gondola Attitude Correction, correction process reference formula (12),For earth magnetism under local horizontal coordinates
Field X-direction component average value), the column matrix of n rows 1.M is drawn according to above step1。
The study flight two：Under local horizontal coordinates each measuring point magnetic tricomponent be Hx2,Hy2,Hz2Flown with study
One principle is identical, can be in the hope of total magnetic moment M2。
It is according to the above-mentioned total magnetic moment in x directionsX, y, the direction magnetic of z tri- can be used
Square represents study flight one and two total magnetic moment M of study flight1、M2It is expressed as follows：
Above-mentioned expression simultaneously, it may be determined that constant magnetic moment Mxr,Myr,Mzr, sense magnetic parameter eix,eiy,eiy：
Stable situation is also insufficient to for the helicopter being likely encountered in actual learning flight one and two, can be to collection
Data do further screening, are solved again using the data corresponding to the measuring point that helicopter attitude is kept approximately constant or is varied less
Constant magnetic moment and sense magnetic parameter.
The study flight three：Under local horizontal coordinates magnetic tricomponent be Hx3,Hy3,Hz3, in the region of variation magnetic field
DH/dt constantly changes between two measuring points, and now helicopter is in x, and y, the direction magnetic moments of z tri- are all at every moment changing.
Utilize formula：
SHax3×M3=Hax_car3-Hax_r-Hax_i-Hx3 (18)
Wherein, SHax3For the column matrix of n rows 3, n is measuring point sum, and row k row vector is represented by：
Wherein
Three direction external magnetic field rates of change can obtain that (this example uses forward difference, and survey line is last by different difference methods
Any does approximate processing).X, y, z is that k-th of measuring point gondola position i.e. under the local horizontal coordinates that helicopter is origin is sat
Mark, T is helicopter attitude transformation matrix, and dt is sampling time interval.M3Parameter, the column matrix of 3 row 1, H are vortexed for helicopterax_car3
The value after gondola Attitude Correction, H are carried out for measured dataax_rIt is helicopter stationary magnetic field and attitudes vibration to each measuring point three-component
In X-direction component HaxThe interference value caused, Hax_iIt is helicopter induced field and attitudes vibration to the X in each measuring point three-component
Durection component HaxThe interference value caused, Hx3For each measuring point under local horizontal coordinates earth's magnetic field X-direction component, be n rows 1
Column matrix.Total magnetic moment M can be determined according to described3.Pass through M3It can determine to be vortexed parameter：
Wherein, Mxr,Myr,Mzr, eix,eiy,eiz, evx,evy,evzRespectively helicopter x, y, z three under helicopter coordinate system
The constant magnetic moment in direction, sense magnetic parameter, vortex parameter.
According to the compensating parameter of determination, analyzing helicopter attitude, self-field change using formula (1)-(11) influences
Gondola position three-component and gradient tensor offset under lower local horizontal coordinates.Simultaneously according to gondola attitude information, public affairs are utilized
Formula (12)-(13) can be by boat magnetic tricomponent and gradient tensor actual measured value under the influence of helicopter attitude, self-field change
Under from the correction of gondola coordinate system to local horizontal coordinates, correction value is obtained.
The final boat magnetic tricomponent drawn according to analysis and gradient tensor actual measured value are corrected to working as from gondola coordinate system
Correction value under ground horizontal coordinates subtracts gondola position three-component and gradient tensor compensation under local horizontal coordinates and is worth to
Result after compensation.
Claims (2)
1. a kind of pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling, methods described is used to eliminate boat magnetic survey
Aircraft changes the influence to magnetic survey value due to self-field and flight attitude in amount, it is characterised in that methods described include with
Lower step：
Step 1) set up the boat full tensor gradiometry forward modeling compensation model of magnetic；
Step 2) according to step 1) the middle modelling study flight scenario progress study flight set up；
Step 3) according to above-mentioned steps 2) study flying quality, determine compensating parameter；
Step 4) utilize above-mentioned steps 3) in the compensating parameter that determines soft compensation is carried out to the full tensor gradient data of boat magnetic；
Step 4) compensating parameter according to determination carries out soft compensation to the full tensor gradient data of boat magnetic and comprises the following steps：
Step 4.1) according to the compensating parameter of determination, analyze the local level under the influence of helicopter attitude, self-field change
Gondola position three-component and gradient tensor offset under coordinate system；
Step 4.2) attitude information that is provided according to gondola, will boat magnetic tricomponent and gradient tensor actual measured value from gondola coordinate
System's correction is arrived under local horizontal coordinates, obtains correction value；
Step 4.3) according to above-mentioned steps 4.2) the boat magnetic tricomponent that draws and gradient tensor actual measured value be from gondola coordinate system
The correction value corrected under local horizontal coordinates subtracts above-mentioned steps 4.1) analyze gondola under the local horizontal coordinates drawn
Position three-component and gradient tensor offset, determine compensation result；
Step 2) the design learning flight scenario, study flight scenario progress is by following three serial order learning Flight Designs：
Learn Flight Design one, select calmness field regions H1One smooth flight；
Learn Flight Design two, it is alternative to allocate magnetostatic place H2Two smooth flights；
Learn Flight Design three, select variation magnetic field area H3Suitably maneuver is taken to fly；
The step 3) compensating parameter is including constant magnetic moment, sense magnetic parameter and is vortexed parameter；
The step 4.1) gone out according to compensating parameter and helicopter attitude information analysis in helicopter attitude, self-field change shadow
Ring lower k-th of measuring point gondola position gradient tensor offset under local horizontal coordinates：
The Bxx,Bxy,Bxz,Byx,Byy,Byz,Bzx,Bzy,BzzMended for the full tensor gradient of k-th of measuring point under local horizontal coordinates
Repay value, μ0For space permeability；X, y, z be respectively k-th of measuring point by origin of helicopter position under local horizontal coordinates
Gondola position；Hx,Hy,HzThe upward external magnetic field value of respectively k-th measuring point x, y, z tripartite under helicopter coordinate system；The upward external magnetic field rate of change of respectively k-th measuring point x, y, z tripartite under helicopter coordinate system；T-1For
The corresponding helicopter attitude matrix T inverse matrixs of k measuring point, (T-1)TFor the transposed matrix of T inverse matrixs, α, beta, gamma is respectively the survey
The corresponding helicopter deviation angle of point, the angle of pitch and roll angle；Mxr,Myr,Mzr, eix,eiy,eiz, evx,evy,evzRespectively k-th
The upward constant magnetic moment of measuring point helicopter x, y, z tripartite under helicopter coordinate system, sense magnetic parameter, vortex parameter；Mx,My,MzRespectively
For the component in the total magnetic moment M of k-th of measuring point helicopter directions of x, y, z three under helicopter coordinate system；
The step 4.2) boat magnetic tricomponent and gradient tensor actual measured value are corrected to local level from gondola coordinate system and sat
Under mark system, pass through gondola posture changing matrix TcCarry out coordinate system correction, the TcThe gondola yaw angle α measured by a momentc、
Angle of pitch βcWith roll angle γcComposition：
The Tc -1For matrix TcInverse matrix, TcGondola posture changing matrix；Hax_car、Hay_car、Za_carIt is that gondola position process is hung
Three-component value after the Attitude Correction of cabin；Bxx_car、Bxy_car、Bxz_car、Byx_car、Byy_car、Byz_car、Bzx_car、Bzy_car、Bzz_car
The gradient tensor value for being gondola position after gondola Attitude Correction；Hax_measure、Hay_measure、Za_measure、Bxx_measure、
Bxy_measure、Bxz_measure、Byx_measure、Byy_measure、Byz_measure、Bzx_measure、Bzy_measure、Bzz_measureIt is real for gondola
Border measured value；Gondola posture is passed through according to three-component value of the gondola position drawn after gondola Attitude Correction, gondola position
Gradient tensor value, gondola actual measured value after correction are compensated respectively to each point；
The compensating parameter is determined：
SHax3×M3=Hax_car3-Hax_r-Hax_i-Hx3
Wherein M1、M2The total magnetic moment of helicopter, M respectively under study flight one, study two helicopter coordinate systems of flight3Fly for study
Helicopter vortex parameter in row three under helicopter coordinate system；Hx1,Hx2,Hx3It is column vector, respectively study flight one, two
With three in each measuring point corresponding earth's magnetic field X-direction component under local horizontal coordinates,Respectively Hx1,Hx2It is flat
Average；SHax1With SHax2The respectively column matrix of n rows 3, n is measuring point sum；Hax_car1With Hax_car2Respectively study flight one and
The measured data for practising flight two carries out the value after gondola Attitude Correction；SHax3For the column matrix of n rows 3, n is measuring point sum；Hax_car3For
Measured data carries out the value after gondola Attitude Correction, Hax_rIt is helicopter stationary magnetic field and attitudes vibration in each measuring point three-component
X-direction component HaxThe interference value caused, Hax_iIt is helicopter induced field and attitudes vibration to the X side in each measuring point three-component
To component HaxThe interference value caused, Hx3For each measuring point corresponding earth's magnetic field X side under local horizontal coordinates in study flight three
It is the column matrix of n rows 1 to component；
Determine that expression formula can be drawn by compensating parameter：
The Mxr,Myr,Mzr, eix,eiy,eiz, evx,evy,evzRespectively helicopter direction of x, y, z three under helicopter coordinate system
Constant magnetic moment, sense magnetic parameter, vortex parameter；Mx1、My1、Mz1And Mx2、My2、Mz2The respectively total magnetic moment M of helicopter1、M2In helicopter
The upward component of x, y, z tripartite under coordinate system；WithRespectively stabilizing magnetic field one and steady
Ground magnetic tricomponent in fixed-field two under helicopter coordinate system is in x, y, the average value on z directions.
2. soft compensation method according to claim 1, it is characterised in that the step 1) in compensation model be related to four kinds
Coordinate system is helicopter coordinate system, gondola coordinate system respectively, at helicopter be the local horizontal coordinates of origin, and GPS systems
The used coordinate system of system；Four kinds of coordinate systems are three-dimensional system of coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510236807.XA CN104809352B (en) | 2015-05-11 | 2015-05-11 | The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510236807.XA CN104809352B (en) | 2015-05-11 | 2015-05-11 | The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104809352A CN104809352A (en) | 2015-07-29 |
| CN104809352B true CN104809352B (en) | 2017-09-01 |
Family
ID=53694168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510236807.XA Expired - Fee Related CN104809352B (en) | 2015-05-11 | 2015-05-11 | The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104809352B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105425304B (en) * | 2015-11-03 | 2017-09-15 | 哈尔滨工业大学 | A kind of compensation method of Aircraft magnetic disturbance |
| CN105222809B (en) * | 2015-11-05 | 2017-11-07 | 哈尔滨工业大学 | The method of the boat magnetic disturbance penalty coefficient estimation of a kind of ground magnetic gradient robust |
| CN106959471B (en) * | 2017-04-21 | 2018-10-02 | 中国科学院电子学研究所 | Boat magnetic compensation method based on the non-linear boat total field gradient compensation model of magnetic |
| CN109814163B (en) * | 2019-02-28 | 2020-09-01 | 中国科学院遥感与数字地球研究所 | Method and system for suppressing noise of aeromagnetic tensor data based on extended compensation model |
| CN110133544B (en) * | 2019-05-14 | 2021-03-19 | 中国科学院上海微系统与信息技术研究所 | Method for acquiring aviation superconducting full tensor magnetic compensation coefficient, terminal and storage medium |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102798898B (en) * | 2012-08-20 | 2014-12-24 | 中国地质科学院矿产资源研究所 | Three-dimensional inversion method for nonlinear conjugate gradient of magnetotelluric field |
| CN103926626A (en) * | 2014-04-30 | 2014-07-16 | 中色地科矿产勘查股份有限公司 | Height correcting method and system for aeromagnetic data |
| CN104345348B (en) * | 2014-11-07 | 2017-03-08 | 吉林大学 | Aviation superconduction full tensor magnetic gradient measurements system relevant parameter acquisition device and method |
| CN204256148U (en) * | 2014-12-08 | 2015-04-08 | 中国科学院上海微系统与信息技术研究所 | A kind of aviation superconduction full tensor magnetic gradient measure and control device synchronous based on GPS |
-
2015
- 2015-05-11 CN CN201510236807.XA patent/CN104809352B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104809352A (en) | 2015-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104809352B (en) | The pull-type boat complete soft compensation method of tensor gradient data of magnetic based on forward modeling | |
| CN104748746B (en) | Intelligent machine attitude determination and virtual reality loaming method | |
| CN106708066A (en) | Autonomous landing method of unmanned aerial vehicle based on vision/inertial navigation | |
| CN106871927A (en) | A kind of UAV electro-optical pod's alignment error Calibration Method | |
| CN105509737B (en) | A kind of airborne mobile platform magnetic disturbance compensation method not influenceed by GEOMAGNETIC CHANGE | |
| CN105785477B (en) | The earth magnetism vector measurement error calibrating method that a kind of component combines with total amount constraint | |
| CN106643737A (en) | Four-rotor aircraft attitude calculation method in wind power interference environments | |
| CN106595711A (en) | Strapdown inertial navigation system coarse alignment method based on recursive quaternion | |
| CN103837845A (en) | Aircraft magnetic disturbance field model parameter calculating method | |
| CN109444774B (en) | Method for measuring magnetic field noise coefficient of underwater vehicle based on small signal method | |
| CN105737858A (en) | Attitude parameter calibration method and attitude parameter calibration device of airborne inertial navigation system | |
| CN108844536A (en) | A kind of earth-magnetism navigation method based on measurement noise covariance matrix estimation | |
| CN106441301A (en) | Air vehicle launching initial parameter acquiring method and system | |
| CN107024206A (en) | A kind of integrated navigation system based on GGI/GPS/INS | |
| CN110243377A (en) | A kind of cluster aircraft collaborative navigation method based on hierachical structure | |
| CN112347625B (en) | Magnetic interference compensation method for aircraft carrier | |
| CN106352897B (en) | It is a kind of based on the silicon MEMS gyro estimation error of monocular vision sensor and bearing calibration | |
| CN107085385A (en) | A kind of analogue system and method for simulating multi-aircraft autonomous flight | |
| Barczyk | Nonlinear state estimation and modeling of a helicopter UAV | |
| CN106774385B (en) | A kind of dirigible spot hover control method using adaptive variable structure | |
| CN109668562A (en) | A kind of gravity gradient kinematics air navigation aid for considering to introduce pseudo-measurement when deviation | |
| CN107084722A (en) | It is a kind of to be used to improve the method that inertia earth magnetism combines quiet dynamic comprehensive performance | |
| CN107063248A (en) | Kinetic model based on rotor rotating speed aids in the air navigation aid of inertial navigation | |
| CN104102357B (en) | 3D model checking methods and device in a kind of virtual scene | |
| CN106200383A (en) | A kind of three axle Inertially-stabilizeplatform platform control method based on model reference adaptive neutral net |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170901 Termination date: 20190511 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |