CN105091880B - A kind of method of tracing and positioning based on scalar sensors array remote magnetic target under water - Google Patents
A kind of method of tracing and positioning based on scalar sensors array remote magnetic target under water Download PDFInfo
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- CN105091880B CN105091880B CN201510419780.8A CN201510419780A CN105091880B CN 105091880 B CN105091880 B CN 105091880B CN 201510419780 A CN201510419780 A CN 201510419780A CN 105091880 B CN105091880 B CN 105091880B
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- G—PHYSICS
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- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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Abstract
The present invention relates to a kind of method of tracing and positioning based on scalar sensors array remote magnetic target under water.The present invention is arranged in " ten " font array, sensor direction of optic axis and geomagnetic fieldvector T in the water surface or under water using five Magnetic Sensors0Direction is substantially parallel, simultaneously a line alignment magnetic north direction of " ten " font sensor array；Each sensor is handled as follows：T1‑Tii≠1；Draw the position coordinates (x, y, z) and target magnetic moment relative to first sensor of magnetic targetThe present invention the quasi- gradient of geomagnetic total field corresponding to acquisition, so as to realize the three-dimensional tracing and positioning to magnetic target, can exclude the influence of the influence and space environment Distribution of Magnetic Field of earth's magnetic field time-varying to magnetic orientation by the position relationship between sensor array.
Description
Technical field
The present invention relates to a kind of method of tracing and positioning based on scalar sensors array remote magnetic target under water.
Background technology
Earth's magnetic field is a natural physical field of the earth, and it has a variety of origins, by the magnetic of different changing rules
Field composition is formed by stacking.Divided according to location of source, earth's magnetic field can be divided into internal field and external field.If it is considered that earth's magnetic field with
The variation characteristic of time, will change over time faster earth's magnetic field turns into the variation magnetic field of the earth, change over time it is relatively slow or
The earth's magnetic field being basically unchanged turns into the stabilizing magnetic field of the earth.Earth's magnetic field is reflection universe differentiation, Earth evolution, geologic structure simultaneously
One of important physical amount of process such as differentiation and seismic activity.Research on geomagnetic field achievement is in navigation, Aeronautics and Astronautics, energy ore deposit
There is extensive and important application in the fields such as production, safety, archaeology.
In various application fields, the position for determining object is a top priority, is the premise for carrying out follow-up work.
Goods rescue, the removal of mines, seabeach rescue work, yard craft such as the sinking ship that needs to carry out in military affairs monitor, antisubmarine application
Deng being required for that underwater object is carried out accurate and quickly positioned.50 meters of China's Huanghai Sea mean depth of the sea, the East Sea are mostly 200 meters
Continental shelf, in such a case, sea situation and target noise are the biggest factors for determining sonar contact distance.And visited based on magnetic field
Survey and do not have to then consider these factors.Due to the presence of magnetic target, its caused induced field can cause spatially Distribution of Magnetic Field
Change, so as to producing magnetic anomaly within this space.Therefore magnetic survey technology is very effective side, and people can be by magnetic anomaly
Normal inverting, obtain some information (e.g., geometric parameter, location parameter etc.) of the target object.
Earth's magnetic field is vector field, and geomagnetic element and Geomagnetism Information can be described more fully with and grasp by implementing vector measurement.
General selection can measure the vector sensor of more than 3 geomagnetic elements at this stage.When using vector sensor, its installation makes
With all very complicated, during installation attitude orientation must critical alignment, be still to real-Time Compensation posture and orientation during carrier movement
The influence of change, correction attitude orientation will also use other high-accuracy position systems.Simultaneously because what earth's magnetic field changed over time
Influence, the measurement distance of the method based on vector sensor can not be oversize.
For vector sensing, the scalar sensors optical pumped magnetometer for detecting geomagnetic total field has highly reliable high accuracy
The characteristics of, while highest resolution is up to fT magnitudes.Therefore, the limit detection distance of the sensor array under fT magnitudes exceedes
10km.Due to measuring geomagnetic total field, resultant field optical pumped magnetometer, which is installed and used, does not need attitude orientation calibration, very convenient.
The content of the invention
It is an object of the invention to provide a kind of influence that can eliminate earth's magnetic field spatial distribution and the shadow changed over time
The method of the loud tracing and positioning based on scalar sensors array remote magnetic target under water.
The object of the present invention is achieved like this：
(1) the water surface or it is underwater be arranged in " ten " font array using five Magnetic Sensors, between adjacent sensors away from
From for L, array plane direction is typically parallel with the direction of horizontal plane, wherein first sensor T1Position be set to the origin of coordinates
(0,0,0), second sensor T2(L, 0,0) position, the 3rd sensor T are positioned in x-axis3It is positioned in x-axis (- L, 0, D)
Position, the 4th sensor T4(0, L, 0) position, the 5th sensor T are positioned on y plane5Be positioned on y plane (0 ,-L,
0) position；Sensor direction of optic axis and geomagnetic fieldvector T0Direction is substantially parallel, simultaneously " ten " font sensor array
A line alignment magnetic north direction；
(2) each sensor is handled as follows：T1-Tii≠1；Draw magnetic target relative to first sensor
Position coordinates (x, y, z) and target magnetic moment
Wherein, (x, y, z) represents magnetic target relative to the position coordinates of first sensor, riRepresent magnetic target to biography
Sensor i distance, Δ TijRepresent the difference of sensor i and sensor j earth magnetism static field；After sensor array is fixed, Δ Tij
It can be obtained by measurement, can be considered as known quantity when calculating；
Solve position coordinates (x, y, z) and magnetic target magnetic moment of the magnetic target relative to first sensor
The beneficial effects of the present invention are：
Above-mentioned localization method is the tracing and positioning that magnetic target is realized by detecting the single scalar of geomagnetic total field.And due to
Resultant field is measured, magnetometer, which is installed and used, does not need attitude orientation calibration, very convenient.Closed by the position between sensor array
System, the quasi- gradient of geomagnetic total field corresponding to acquisition, so as to realize the three-dimensional tracing and positioning to magnetic target, can exclude earth's magnetic field
Influence of the influence and space environment Distribution of Magnetic Field of time-varying to magnetic orientation.The magnetic moment calculatedValue can tentatively judge target
Yardstick.
Brief description of the drawings
Fig. 1 Magnetic Field positioning analysis schematic diagrames.
The sensor array schematic diagram of Fig. 2 three-dimensional magnetics target positioning.
The movement locus of Fig. 3 magnetic targets.
The tracing and positioning result (X, Y, the relative error in Z-direction) of Fig. 4 targets.
Embodiment
The present invention is to provide a kind of side of tracing and positioning based on scalar sensors array remote magnetic target under water
Method.By the corresponding relation between sensor array, the quasi- gradient information in earth's magnetic field corresponding to acquisition, so as to believe according to quasi- gradient
Breath, obtain the three dimensional local information of underwater magnetic target.The quasi- ladder obtained using geomagnetic sensor array proposed by the invention
Degree scheme can exclude earth's magnetic field change over time to magnetic survey positioning influence, while scalar sensors lay with orientation without
Close, therefore the detection method implements simple, positioning precision height, orientation distance is remote.
Due to the influence that earth's magnetic field changes over time, the detection method of the underwater magnetic target based on geomagnetic total field gradient
Detection range is shorter.In the method, the array based on five scalar sensors can effectively eliminate earth's magnetic field with the time
Change the influence to measurement, improve measurement distance, it is characterized in that：By the position relationship between sensor array, corresponded to
Geomagnetic total field gradient, so as to realize the three-dimensional tracing and positioning to magnetic target.
Realize that implementing high accuracy remote to underwater magnetic target chases after using the array of scalar sensors and corresponding algorithm
Track positions.It is characterized in that：Five scalar sensors are arranged in " ten " font arrays, referring to the drawings 1.
It is an object of the invention to carry out high-precision tracing and positioning to underwater remote magnetic target.Utilize five marks
The geomagnetic total field data that the sensor array that quantity sensor is formed obtains, it is accurate that earth magnetism is obtained by the relativeness between sensor
Gradient, the far field theory according to magnetic target magnetic dipole is deduced by strict physical concept and algorithm design, draws magnetic
Target is realized and target is accurately positioned relative to the position coordinates of sensor
2.1st, oriented array is formed and algorithm designs
When the distance of magnetic target to sensor is much larger than itself size, the magnetic target can be equivalent to a magnetic
Dipole.Magnetic field caused by magnetic dipole can be expressed as：
Wherein,Represent magnetic dipole to sensor distance,The magnetic moment of magnetic dipole is represented, μ represents magnetic conductance
Rate.
Magnetic dipole produce magnetic field scalar expression be:
Wherein,It isScalar value, β representWithBetween angle.In measurement process, the magnetic field measured is wrapped
Contain：Magnetic field caused by earth's magnetic field and magnetic dipole, magnetic field expression formula are as follows：
Wherein,Represent the earth's magnetic field at sensor.
From formula 3, we can obtain:
Wherein, α is representedWithBetween angle.Because α and β have corresponding relation, its relation is as follows：
By formula (4) and (5), we can obtain：
β can be expressed as：
Wherein,Geomagnetic declination is expressed as, θ is expressed as geomagnetic inclination.(x, y, z) represents magnetic dipole relative to sensor
Position coordinates.
Finally, we obtain the Scalar Expression form of earth magnetism：
The analysis to a scalar sensors more than, we have proposed a kind of based on five scalar sensors arrays
To the method for the tracing and positioning of distant object.L represents the distance of adjacent sensors.We can be obtained on 5 sensors
Geomagnetic field information：
Wherein, riRepresent that magnetic dipole represents magnetic dipole relative to the 1st sensor to sensor i distance, (x, y, z)
Position.
In order to eliminate the influence that earth's magnetic field changes over time, we are handled each sensor as follows：T1-Ti(i ≠ 1), most
Obtain eventually：
Wherein, Δ TijRepresent the difference of sensor i and sensor j earth magnetism static field.After sensor array is fixed, Δ
TijIt can be obtained by measurement, can be considered as known quantity when calculating.Therefore, changed over time by above-mentioned processing, earth's magnetic field
Influence be eliminated.
Position coordinates (x, y, z) and magnetic target magnetic moment of the magnetic target relative to sensor 1 can be solved by (9) formula
2.2nd, it is convenient to form simple installation measurement for array
Above-mentioned localization method is to realize that target positions by detecting the single scalar of geomagnetic total field.And due to measuring resultant field,
Magnetometer, which is installed and used, does not need attitude orientation calibration, very convenient.
2.3rd, do not influenceed by ground magnetic temporal variation
By the position relationship between sensor array, the quasi- gradient of geomagnetic total field corresponding to acquisition, so as to realize to magnetic
The three-dimensional tracing and positioning of property target, can exclude earth's magnetic field time-varying influence and space environment Distribution of Magnetic Field to the shadow of magnetic orientation
Ring.
The geomagnetic data of five sensors carries out T in sensor array1-Ti(i ≠ 1) is handled, and eliminates spatial magnetic field
Influence and the influence that changes over time of magnetic field.Wherein, T1Represent the geomagnetic data of sensor 1, TiRepresent sensor i earth magnetism
Data.
This method realizes quick calculating using modified particle swarm optiziation, mobile magnetic target can be realized and chased after in real time
Track positions.
Without carrying out posture side to sensor array when the installation and detection of " ten " font sensor array in this method
Position calibration.
Involved in the present invention is that one kind is based on scalar array of magnetic sensors, using earth's magnetic field resultant field data to underwater magnetic
The method that target carries out three-dimensional tracing and positioning.What the sensor array specifically formed using five scalar magnetometers was obtained
Geomagnetic total field data, geomagnetic total field gradient is obtained by the relativeness between sensor, according to magnetic target magnetic dipole
Far field theory is deduced by strict physical concept and algorithm design, draws the position coordinates of magnetic target, and realization is accurately positioned
Method, due to use the quasi- gradient of earth magnetism, the influence that the influence of earth's magnetic field spatial distribution can be eliminated and changed over time.In water
The exploration of lower energy mineral reserve, underwater various pipeline maintenance monitorings, Geological Hazards Monitoring, archaeology, wreck surveying, clearance under water are antisubmarine etc.
There is important application in field.
It is an object of the invention to high-precision tracking and positioning are carried out to underwater remote magnetic target.Utilize five
The geomagnetic total field data that the sensor array that scalar magnetometer is formed obtains, earth magnetism is obtained by the relativeness between sensor
Quasi- gradient, the far field theory according to magnetic target magnetic dipole is deduced by strict physical concept and algorithm design, draws mesh
Target position coordinates, realizes and target is accurately positioned.
Particular content of the present invention includes：
1st, array is formed
1. array geometry
Such as accompanying drawing 1, the water surface or it is underwater be arranged in " ten " font array using five Magnetic Sensors, between adjacent sensors
Distance be L, referring to the drawings 1, array plane direction is typically parallel with the direction of horizontal plane, one of sensor T1Position
It is set to the origin of coordinates (0,0,0), second sensor T2(L, 0,0) position, the 3rd sensor T are positioned in x-axis3It is positioned over x
(- L, 0, D) position on axle, the 4th sensor T4(0, L, 0) position, the 5th sensor T are positioned on y plane5It is positioned over y
(0 ,-L, 0) position in plane.
2. sensor cloth set direction
During using optical pumping Magnetic Sensor, sensor direction of optic axis and geomagnetic fieldvector T0Direction is substantially parallel, simultaneously
The a line alignment magnetic north direction of " ten " font sensor array.
3. determine the length of side L of square principle：
First in the case where various objective condition allow, the distance between adjacent sensors L is bigger, the positioning accurate of array
Degree is higher.
For length of side L no more than the effective range of sensor, this is determined by the resolution ratio of forming array sensor.
Length of side L not hinder the motor-driven navigation of array, and this is load-carrying ability and the navigation by loading or towed array carrier
What speed determined.
2nd, algorithm designs
The geomagnetic field information of five sensors such as (1) formula, is changed over time to eliminate earth's magnetic field in sensor array
Influence, we are handled each sensor as follows：T1-Ti(i ≠ 1), (2) formula is obtained, the phase of magnetic target can be drawn by (2) formula
For the position coordinates (x, y, z) and target magnetic moment of sensor 1
Wherein, (x, y, z) represents magnetic target relative to the position coordinates of sensor 1, riRepresent magnetic target to sensing
Device i distance, Δ TijRepresent the difference of sensor i and sensor j earth magnetism static field.After sensor array is fixed, Δ TijCan
To be obtained by measurement, known quantity can be considered as when calculating.
Position coordinates (x, y, z) and magnetic target magnetic moment of the magnetic target relative to sensor 1 can be solved by (2) formula
Scalar array of magnetic sensors is built with Fig. 2 structures, the sensor spacing L=3m in array, Magnetic Sensor is using spirit
Sensitivity is 0.6pT CS-L optical pumped magnetometers.Sensor array is placed along the parallel direction with magnetic north.Magnetic mesh
Mark moves in the horizontal plane, and translational speed in the x direction is 5m/s, and translational speed in the Y direction is 10m/s.Between sampling
It is divided into 2s.Flight path of the magnetic target along planning moves to B points from A points, as shown in Figure 3.Fig. 3 is determined using the tracking of this method
The result of position.Fig. 3 gives the situation of the relative error of each point.Relative error on X and Y-direction is less than 2%, in Z-direction
Relative error be 5% or so.Remove outside indivedual obvious errors points, distance of the magnetic target to sensor 1Average relative error be 1.3%.It can be seen that the program can carry out high-precision tracking to magnetic target
And positioning.The magnetic target magnetic moment calculated simultaneously is P=5 × 106A·m2。
Claims (1)
- A kind of 1. method of tracing and positioning based on scalar sensors array remote magnetic target under water, it is characterised in that bag Include following steps：(1) " ten " font array is arranged in using five Magnetic Sensors in the water surface or under water, the distance between adjacent sensors are L, array plane direction is parallel with the direction of horizontal plane, wherein first sensor T1Position be set to the origin of coordinates (0,0,0), Second sensor T2(L, 0,0) position, the 3rd sensor T are positioned in x-axis3(- L, 0, D) position is positioned in x-axis, the Four sensor T4(0, L, 0) position, the 5th sensor T are positioned on y plane5(0 ,-L, 0) position is positioned on y plane； Sensor direction of optic axis and geomagnetic fieldvector T0Direction is substantially parallel, simultaneously a line pair of " ten " font sensor array Quasi- magnetic north direction；(2) each sensor is handled as follows：T1-Ti, i ≠ 1；TiSensor i geomagnetic data is represented, draws magnetic target Relative to the position coordinates (x, y, z) and target magnetic moment of first sensorWherein,Geomagnetic declination is expressed as, θ is expressed as geomagnetic inclination, and μ represents magnetic conductivity, and (x, y, z) represents that magnetic target is relative In the position coordinates of first sensor, riRepresent magnetic target to sensor i distance, Δ TijRepresent sensor i and sensor j Earth magnetism static field difference；After sensor array is fixed, Δ TijIt can be obtained, can be considered as when calculating known by measurement Amount；Solve position coordinates (x, y, z) and magnetic target magnetic moment of the magnetic target relative to first sensor
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| CN109781093B8 (en) * | 2018-10-09 | 2021-08-13 | 武昌首义学院 | Underwater target magnetic positioning and tracking system and method |
| CN109307847B (en) * | 2018-11-06 | 2021-01-05 | 哈尔滨工程大学 | Second-order Euler inversion method of magnet |
| CN112050799B (en) * | 2020-08-19 | 2022-11-18 | 哈尔滨工程大学 | Distance measurement positioning method based on magnetic gradient tensor shrinkage ratio |
| CN113589390B (en) * | 2021-08-18 | 2024-04-19 | 国网福建省电力有限公司莆田供电公司 | Submarine cable route coordinate positioning method based on weak magnetic signals |
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