CN107340001A - Magnetic survey error compensation experimental rig - Google Patents
Magnetic survey error compensation experimental rig Download PDFInfo
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- CN107340001A CN107340001A CN201710366514.2A CN201710366514A CN107340001A CN 107340001 A CN107340001 A CN 107340001A CN 201710366514 A CN201710366514 A CN 201710366514A CN 107340001 A CN107340001 A CN 107340001A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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
- G01C21/04—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
Abstract
The invention discloses a kind of magnetic survey error compensation experimental rig, it is related to technical field of measuring equipment, rotating mechanism, rotating mechanism workbench including leveling base, with the angle of pitch, inclination angle and azimuth adjustment component are provided with support frame, and its top is provided with sensor clamping platform；Sensor outer signal harvester and computer and its processing software；Parallel moving mechanism, including vertical motion assemblies and horizontal movement component are additionally provided with workbench；Analog carrier clamping platform is set on horizontal movement component.The all component of device is made from non-magnetic materials such as aluminium alloys.The present invention can be to sensor and analog carrier at azimuth, the angle of pitch, inclination angleIn the range of be adjusted, error is not more than；And its relative position can be changed, error is not more than1mm；By magnetic field intensity of both detections in different postures, different relative positions, compensated calculating, accurate earth's magnetic field is obtained.Device regulation is sensitive, precision is high, can meet the checking demand of a variety of backoff algorithms.
Description
Technical field
The present invention relates to technical field of measuring equipment, more particularly to a kind of magnetic survey error compensation experimental rig.
Background technology
High-precision navigator fix is one of key technology of submarine, aircraft, satellite navigation and missile guidance, is countries in the world
The focus of research.At present, conventional navigator fix mode has inertial navigation, satellite navigation and bank base radionavigation etc..These
Navigation mode has respective deficiency, such as：There is the shortcomings that accumulation of error in inertial navigation technology, gps signal is easily by dry
Disturb, bank base radionavigation mode and easily exposure position etc..So domestic and foreign scholars exploring always it is a kind of have precision it is high,
The navigation mode of the advantages that good concealment.
Earth's magnetic field is the intrinsic physical field of the earth, so carrying out navigation using earth's magnetic field has passive reception, disguise
Well, the advantages that error is not with time integral；Round-the-clock, the navigator fix and attitude information of round-the-clock, full region can be provided,
And geomagnetic sensor small volume, cheap, energy consumption is low, is easily integrated.Based on this, earth magnetism and other navigation mode phases are utilized
With reference to integrated navigation mode enjoy the concern of people.
Real-time accurate obtain of earth magnetism vector field information is the basis for realizing accurately magnetic navigation control.But install
The carrier of magnetic survey sensor is made up of materials such as ferromagnetic materials more, and these ferromagnetic materials hold in the presence of earth's magnetic field
Induced field is also easy to produce, so the measurement in earth's magnetic field can be disturbed by ferromagnetic material around geomagnetic sensor.Sensor is real-time
What is measured is the Magnetic Field around it, and the magnetic field both includes basic earth's magnetic field, also including the ferromagnetic material around sensor
With loop caused by disturb magnetic field.If ignoring the information in the interference such as carrier magnetic field in magnetic survey, can cause very big
Magnetic survey noise, the signal to noise ratio of magnetic data is greatly reduced, reduce the precision of earth-magnetism navigation.Therefore, it is necessary to magnetic survey
In carrier magnetic field compensate, to improve the precision of earth-magnetism navigation.
If the earth's magnetic field in vacuum is, due to magnetizing mediums generation magnetization, caused complementary field is, then magnetizing mediums
The total magnetic field of surrounding is.And different magnetizing mediums is also different on being influenceed caused by magnetic field, for magnetic, magnetic is situated between
Material can be divided into three classes：
（1）Paramagnetic material：Very faint magnetic, and the complementary field after magnetization is presented in this kind of material in external magnetic fieldWithDirection is identical.Such as manganese, chromium, platinum；
（2）Diamagnetic material：Weak magnetic substance is belonged to paramagnetic meterial, still, their their complementary fieldsWithDirection
Conversely.Such as：Hydrogen, copper, gold, silver etc.；
（3）Ferromagnetic material：This kind of material can produce very big complementary field under external magnetic field, and with magnetic field phase
Together.Such as：Iron, cobalt, nickel and its alloy etc..
Ferromagnetic material can be divided into hard magnetic material and soft magnetic materials again according to its coercitive size.Hard magnetic material refers to magnetic
It is not easy to demagnetize and a kind of Ferrite Material of magnetic can be retained for a long time after change, also referred to as permanent-magnet material or permanent magnetic material.It
Magnetic field intensity may be considered constant, will not change with the change of attitude of carrier or position.Due to the body of Magnetic Sensor
Product very little, thus can consider that complementary field caused by the hard magnetic material being present in around Magnetic Sensor is equal around sensor
Even distribution.At this moment, the magnetic field data that sensor measures both includes geomagnetic field component, also comprising additional magnetic caused by hard magnetic material
.Because Hard Magnetic material and sensor relative position are constant, the complementary field under carrier optional position is in the axle of sensor three
On component it is constant, thus relatively easy compensation.
Soft magnetic materials refers to the magnetic material with relatively low coercivity and high magnetic permeability.Soft magnetic materials is easy to magnetize, also easily
In demagnetization.Its influence degree to sensor measurement depends primarily on two aspects：Material susceptibility in itself and environment
Magnetic field.Different materials, caused complementary field changes greatly in different magnetic field, compensates relative difficulty.
Error caused by carrier magnetic field can be compensated by designing appropriate algorithm.Compensation precision needs to design precision
Experimental bench verified.Also there are some three-axle tables to simulate multiple functions at present, but when being tested, still suffer from
Verticality error, error of tilt etc., and the experimental rig that can be applied to magnetic survey error compensation is near barren.Conventional
Three-axle table has the following disadvantages：Its material will certainly produce larger interference magnetic field, influence the measurement in earth's magnetic field；Do not design
For changing the multiple degrees of freedom adjusting means of sensor and carrier relative position；Adjusting means is horizontal before not being designed to test for
Levelling device；Do not design translation device.Therefore, a high accuracy, low cost are developed, can be used in measuring geomagnetic noise magnetic
The professional device of field is imperative.
The content of the invention
The technical problems to be solved by the invention are in view of the shortcomings of the prior art, there is provided a kind of magnetic survey error compensation
Experimental rig, it can realize the accurate measurement of the Geomagnetic Total Field in the case of interference source be present, magnetic survey can be compensated
Algorithm is verified, can apply to the magnetic surveys such as foundation, the earth-magnetism navigation of geomagnetic database or the research of application field.
In order to solve the above technical problems, the technical solution used in the present invention is：
A kind of magnetic survey error compensation experimental rig, including it is capable of the turntable of six degree of freedom adjustment, the turntable includes base
And its rotating mechanism of top, the rotating mechanism are connected with workbench, the rotating mechanism includes elevating movement component, tilted
Moving parts and azimuth adjustment component, the angle of pitch, inclination angle and azimuthal adjustment are realized by rotating mechanism；The base
Bottom is provided with levelling gear；It is vertical in the middle part of the workbench to be provided with support frame, sensor clamping platform is provided with the top of support frame as described above,
Analog carrier clamping platform is additionally provided with above the workbench, the analog carrier clamping platform passes through Three Degree Of Freedom parallel moving mechanism and work
It is connected as platform, the parallel moving mechanism includes vertical motion assemblies and horizontal movement component；The magnetic survey error compensation experiment
Device is made from non-magnetic material.
Preferably, the elevating movement component includes pitch axis, pitch axis worm screw and pitch axis worm gear, and the pitch axis is consolidated
Workbench bottom is scheduled on, the pitch axis worm screw is fixedly linked with pitch axis, and the pitch axis worm gear coordinated with pitch axis worm screw is consolidated
It is scheduled in rotating shaft；The banking motion component includes sloping shaft and sloping shaft worm screw, and the sloping shaft worm screw is arranged on support,
The sloping shaft worm gear coordinated with sloping shaft worm screw is fixedly connected with sloping shaft；The azimuth adjustment component includes azimuth axis, side
Position worm screw and azimuth axis worm gear, the azimuth axis are connected with support, and the azimuth axis is fixedly linked with azimuth axis worm gear, the side
Position worm screw and azimuth axis worm gear are arranged in shield.
Preferably, the vertical motion assemblies include column guide rail, column sliding block and column latch segment, the column guide rail
For two and it is symmetrical arranged on the table, the column slide block set is on column guide rail, the column latch segment and column
Sliding block coordinates, and the column sliding block can be fixed on column guide rail by column latch segment；It is provided between two column sliding blocks
Horizontal movement component.
Preferably, the horizontal movement component includes side-to-side movement part and moves forward and backward part, described to move forward and backward portion
Part includes Y column holders, Y posts locking sliding block and Y post tie down screws, and the Y column holders are arranged on horizontal frame both sides and its both ends
It is fixed on the inside of horizontal frame, the horizontal frame is fixedly linked with two heel post sliding blocks, and the Y posts locking sliding block is arranged on
On Y column holders, the Y posts tie down screw coordinates with Y posts locking sliding block, can be consolidated Y post locking sliding blocks by Y posts tie down screw
It is scheduled on Y column holders；The side-to-side movement part includes X posts guide rail, X posts sliding block and X post latch segments, and the X posts guide rail is flat
Row arranged side by side two and it is each attached on Y post locking sliding blocks, the X posts sliding block is arranged on X post guide rails and can be by X posts
Latch segment is fixed on X post sliding blocks.
Preferably, dial I, the dial I are provided with below the pitch axis and is provided with vernier I, the shield top
Provided with dial II, the dial II edges are arranged on vernier seat provided with vernier II, the vernier II.
Preferably, the sloping shaft worm screw, pitch axis worm screw and orientation worm end are respectively mounted adjusting handle.
Preferably, workbench and analog carrier the clamping platform upper surface is equipped with leveling bubble, the workbench upper table
Face is provided with two orthogonal leveling bubbles, and the analog carrier clamps edge of table and is provided with a leveling bubble.
Preferably, the levelling gear includes leveling lower margin, linkage levelling screw and nut, and the linkage levelling screw is through turntable
Base is set and bottom is provided with leveling lower margin, and the linkage levelling screw is fixedly connected by nut with the base of turntable.
Preferably, the adjusting range at the angle of pitch and inclination angle is positive and negative 40 degree, azimuthal adjusting range
For 360 degree.
Further, the linkage levelling screw upper end is provided with leveling handwheel.
It is using beneficial effect caused by above-mentioned technical proposal：By the elevating movement component of rotating mechanism, tilt
Moving parts and azimuth adjustment Component driver workbench carry out the angle of pitch, inclination angle and azimuthal adjustment, realize workbench
The adjustment of six degree of freedom, and then change the attitude angle and relative position of analog carrier and geomagnetic sensor.Can using the present invention
It is always strong by detecting the earth's magnetic field under different geomagnetic sensor attitude angles, analog carrier and geomagnetic sensor difference relative position
Degree, carrier induced field is compensated by calculating, obtains accurate geomagnetic field intensity.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is a kind of structural representation of magnetic survey error compensation experimental rig provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of workbench up-regulation par bubble；
Fig. 3 is the scheme of installation of analog carrier clamping platform；
In figure：1- leveling lower margins；2- nuts；3- linkage levelling screws；4- axle sleeves；5- nuts；6- leveling handwheels；7- screws；8- bases；
9- tablettings；10- pads；11- transfer blocks；12- shields；13- dials II；14- adjusting handles；15- sloping shaft worm screws；16- inclines
Inclined shaft；17- supports；18- verniers I；19- dials I；20- column guide rails；21- pressing plates；22- supports；23- sensor clamping platforms；
24- holds out against screw；25- column latch segments；26- column sliding blocks；27-Y column holders；28-Y post locking sliding blocks；29-Y post locking screws
Bar；30- locks handwheel；31- screws；32- analog carrier clamping platforms；33-X post sliding blocks；34-X post latch segments；35-X post guide rails；
36- workbench；37- pitch axis；38- compression bars；39- adjusting screws；40- pitch axis worm gears；41- pitch axis worm screws；42- bearings
Seat；43- bearings；44- cover plates；45- verniers II；46- vernier seats；47- azimuth axis worm gears；48- azimuth axis；49- leveling bubbles.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only the part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Referring to Fig. 1, a kind of magnetic survey error compensation experimental rig provided by the invention, including being capable of six degree of freedom adjustment
Turntable, the turntable includes the rotating mechanism of base 8 and its top, and the rotating mechanism is connected with workbench 36, described turn
Motivation structure includes elevating movement component, banking motion component and azimuth adjustment component, and workbench is realized by rotating mechanism
The angle of pitch, inclination angle and azimuthal adjustment；The base bottom is provided with levelling gear；The middle part of workbench 36 is vertically provided with
Support 22, the top of support 22 are provided with sensor clamping platform 23, and the top of workbench 36 is additionally provided with analog carrier clamping platform
32, the analog carrier clamping platform 32 is connected by Three Degree Of Freedom parallel moving mechanism with workbench 36, and the parallel moving mechanism includes hanging down
Straight moving parts and horizontal movement component；The magnetic survey error compensation experimental rig is made from non-magnetic material, can be selected
The non-magnetic material such as aluminium alloy or magnetism-free stainless steel makes.Whole device arrives greatly table top, support, small to parts such as screw, bolts
It is made by the non-magnetic rustproof Steel material such as aluminium alloy, it is ensured that turntable will not produce induced field in geomagnetic field, avoid
Measurement to earth's magnetic field brings interference.Analog carrier is placed in the analog carrier clamping platform above workbench and clamped, by ground
Magnetic Sensor is placed on sensor clamping platform, changes analog carrier and geomagnetic sensor by rotating mechanism and parallel moving mechanism
Relative position, refinement diverse location download soma disturb influence of the magnetic field to earth's magnetic field, improve the measurement accuracy in earth's magnetic field.
As a kind of preferred structure, the elevating movement component includes pitch axis 37, pitch axis worm screw 41 and pitch axis snail
Wheel 40, the pitch axis is fixed on workbench bottom, and the pitch axis worm screw is fixedly linked with pitch axis, matched somebody with somebody with pitch axis worm screw
The pitch axis worm gear of conjunction is fixed in rotating shaft；The banking motion component includes sloping shaft 16 and sloping shaft worm screw 15, described to incline
Inclined shaft worm screw 15 is arranged on support, with sloping shaft worm screw coordinate sloping shaft worm gear be fixedly connected with sloping shaft, sloping shaft and
Rotating shaft is coaxially fixed；The azimuth adjustment component includes azimuth axis 48, orientation worm screw and azimuth axis worm gear 47, the azimuth axis
It is connected with frame bottom, the azimuth axis 48 is fixedly linked with azimuth axis worm gear 47, and the orientation worm screw and azimuth axis worm gear are equal
It is arranged in shield 12.Elevating movement component, banking motion component and azimuth adjustment component select Worm Wheel System, whole
Body more compact structure, possess larger gearratio, while also possess auto-lock function.
Wherein, the adjusting range at the angle of pitch and inclination angle is positive and negative 40 degree, and azimuthal adjusting range is
360 degree.In order to accurately determine adjustment angle, the pitch axis lower section is provided with vernier provided with dial I19, the dial I
I18, the top of shield 12 are provided with dial II13, and the dial II13 edges are provided with vernier II45, the vernier II45
It is arranged on vernier seat 46.Sloping shaft worm gear connects firmly with the dial II phases being disposed below, i.e., by rotating sloping shaft worm screw,
Realize the regulation of the positive and negative 40 degree of scopes in inclination angle.The bearing of pitch axis mutually connects firmly with workbench, and its adjusting means is with being located under it
The inclination shaft portion of side is mutually connected firmly, that is, when meeting the regulation angle of pitch, the angle of pitch is carried out on the basis of original inclination angle posture
Change, realize independent regulation, superposing control, i.e. the regulation of pitch tilt posture is not interfere with each other.The adjustable range of the angle of pitch
For positive and negative 40 degree.Azimuth adjustment component is located at below turntable and is connected with base, dial I and orientation worm end tune
The mutual hinge in a manner of worm and gear of handwheel 14 is saved, by rotating adjusting handle, it is possible to achieve azimuth（Course angle）360 degree
The regulation of scope.
In order to easy to adjust, rotating mechanism is adopted and is manually adjusted, same with sensing without photoelectric encoder
Device is walked, forms the reading mechanism of angle, the angle of pitch, inclination angle and orientation using dial and vernier when reading scale
The precision at angle can reach。
In addition, the turntable does not have the shafting of general significance, using sliding friction shafting, in addition to applying the constraint of radial direction,
Also need to axial constraint.Such as：A wedge-shaped copper bar is designed with the support of elevating movement component, when screw screws, copper bar is close to
On pitch axis, produce axial force and downward pressure, the depth that screw screws in is different, copper bar to the pretightning force of pitch axis not yet
Together.Based on this, turntable seems compact structure, simply, easy to operate, quick.
In a preferred embodiment of the invention, the vertical motion assemblies include column guide rail 20, column sliding block 26
And column latch segment 25, the column guide rail 20 are two and are symmetricly set on workbench 36 that the column slide block set is mounted in
On column guide rail, the column latch segment coordinates with column sliding block, and the column sliding block can be fixed on by column latch segment
On column guide rail；Horizontal movement component is provided between two column sliding blocks.
Wherein, the horizontal movement component includes side-to-side movement part and moves forward and backward part, described to move forward and backward part
Including Y column holders 27, Y posts locking sliding block 28 and Y posts tie down screw 29, the Y column holders 27 be arranged on horizontal frame both sides and
Its both ends is fixed on the inside of horizontal frame, and the horizontal frame is fixedly linked with two heel post sliding blocks 26, and the Y posts locking is slided
Block is arranged on Y column holders, and the Y posts tie down screw coordinates with Y posts locking sliding block, can be locked Y posts by Y posts tie down screw
Tight sliding block is fixed on Y column holders；The side-to-side movement part includes X posts guide rail 35, X posts sliding block 33 and X posts latch segment 34, institute
X posts guide rail is stated to be two of parallel side-by-side and be each attached on Y post locking sliding blocks, the X posts sliding block is arranged on X post guide rails,
And it can be fixed on by X post latch segments on X post sliding blocks.
The vertical motion assemblies of above-mentioned parallel moving mechanism and the side-to-side movement part of horizontal movement component and move forward and backward part
The mode coordinated from guide pillar sliding block, is had the advantages that easy to operate, positioning precision is high, stable movement, can realize simulation
Front and rear and left and right both direction the position adjustment of vertical direction, horizontal plane that carrier clamps, i.e. three degree of freedom（Three sides
Position）Parallel motion, so as to change the relative position of analog carrier and geomagnetic sensor, refinement diverse location downloads soma
Influence of the magnetic field to earth's magnetic field is disturbed, improves the measurement accuracy in earth's magnetic field.
In order to facilitate adjustment, the sloping shaft worm screw 15, pitch axis worm screw 41 and orientation worm end are respectively mounted regulation hand
Wheel 14.
In one particular embodiment of the present invention, as shown in Figure 2,3, on workbench and the analog carrier clamping platform
Surface is equipped with leveling bubble 49, and the worktable upper surface is provided with two orthogonal leveling bubbles 49, and the simulation carries
Body clamps edge of table and is provided with a leveling bubble 49.
In a preferred embodiment of the invention, the levelling gear includes leveling lower margin 1, linkage levelling screw 3 and nut
2, the linkage levelling screw 3 is set through the base 8 of turntable and bottom is provided with leveling lower margin 1, and the linkage levelling screw 3 passes through nut 2
It is fixedly connected with the base 8 of turntable.Turret design has three leveling lower margins, has the adjusting range of 60mm height.Meanwhile in order to
Convenient operation, the linkage levelling screw upper end is provided with leveling handwheel 6.As long as the deviation of gravity center orientation shaft centre line of turntable is no more than
During 220mm, it is ensured that turntable stage body does not topple, it is ensured that turntable stage body safety.Turntable is adjusted using levelling gear
Flat, its precision can reach, i.e. turntable exists、、、Four positions, the levelness of table top are not more than.It need not borrow
The high precision instruments such as electrolevel are helped, only leveling lower margin need to be adjusted by leveling bubble, you can meet above-mentioned requirements, adjust hand
Section is simple and easy, saves the time, precision is higher.
Rotating mechanism, parallel moving mechanism and levelling device of apparatus of the present invention etc. are non-magnetic material, will not magnetic survey over the ground
Amount brings any interference.Rotating mechanism is by the way of worm and gear, and for parallel moving mechanism by the way of guide pillar sliding block, regulation is more square
Just it is quick.Magnetic survey precision is higher, and greatly reduces the cost needed for measurement.Apparatus of the present invention design accuracy is higher,
The depth of parallelism of turntable table top is not more than, flatness is not more than 0.1mm；The adjustable range of course angle is in rotating mechanism, bow
The elevation angle, inclination angle adjustable range are, the errors of three attitude angles no more than；Relative position regulation error is not more than；The orthogonal leveling bubble of work top installation, its error are not more than；Analog carrier clamping platform groove floor relative to
Table top is not more than in the site error of three direction of principal axisApparatus of the present invention are easy to adjust, and six-freedom degree can realize tune manually
Section, by rotating adjusting handle, can change the attitude angle of analog carrier, geomagnetic sensor；Slide the mould for placing analog carrier
Intend carrier clamping platform, thus it is possible to vary the relative position of analog carrier and geomagnetic sensor；Each regulation part is designed with self-locking
Device, it is ensured that equipment safety is reliable.The present invention is made from non-magnetic material, and induced field will not be produced in earth's magnetic field,
Magnetic survey will not be caused to disturb.The invention can be passed by detecting different geomagnetic sensor attitude angles, analog carrier and earth magnetism
Geomagnetic Total Field under sensor difference relative position, analog carrier induced field is compensated by calculating, is obtained accurately greatly
Magnetic field intensity.
Apparatus of the present invention specific operation process is as follows：
Operated before test：Turntable is placed on level ground, by observing two leveling bubbles of work top, rotates leveling
Handwheel 6 carries out leveling to turntable.After leveling bubble is placed in the middle, turntable is rotated,,, turntable is recorded successively at four
The position of leveling bubble during angle.WithOn direction, turntable is adjusted to the median of two positions.Such as：IfPosition
When bubble be+3 lattice,Bubble position during position is -1 lattice, by rotating leveling handwheel 6, adjusts leveling lower margin, makes water
Steep for the median of+2 lattice, i.e. two positions.WithIt is adjusted in the same way, until turntable rotates,,,Four positions, bubble, which changes, is no more than 3 lattice, it is believed that now turntable reaches horizontal, i.e. leveling finishes.Now four
Position levelness is not more than.After adjustment terminates, lower margin lug 2 and nut 5 are locked respectively, avoid stage body from slightly shaking
It is dynamic.
Test operation：To be easy to adjust, turret design is the manual turntable of six degree of freedom, is divided into rotating part and translation portion
Point.Rotating part includes the angle of pitch, inclination angle and course angle（Azimuth）Adjustment.The rotating part being connected with workbench is to bow
Face upward axle 37.When pitch axis 37 rotates forward（Operator faces dial I19, rotates counterclockwise direction as just）, i.e., workbench to
Left bank, the adjusting handle of left end sloping shaft worm end should be unloaded, avoid influenceing turntable normal work.By rotating both sides
The adjusting handle on the pitch axis worm screw 41, pitch axis 37 can be to drive workbench to rotate.The number of degrees of rotation are by scale
Disk I19 and vernier I18, which coordinates, to be read, and its number reading method is identical with the number reading method of slide measure（Minimum scale is）.Pitching
The range of movement of axle is, when more than range of movement, stop operating adjusting handle, avoids damaging parts.Sloping shaft is with bowing
It is identical to face upward the application method of axle, its range of movement is.The application method of azimuth axis is similar, is located at azimuth axis 48 by rotation
On adjusting handle, turntable can be horizontally rotated, coordinate by dial II 13 and vernier II 45 and read current orientation
Angle.So as to realize the turntable angle of pitch, inclination angle and azimuthal regulation.
The operation of parallel moving mechanism：First have to ensure that the leveling bubble of work top is in zero before parallel moving mechanism operation is carried out
Position.After turntable level, it can make its smooth sliding on column guide rail 20 by gently holding column sliding block 26, work as work
When platform moves to correct position, the screw of side is first screwed, locks column latch segment 25.Then analog carrier clamping platform is observed
Leveling bubble on 32, the column sliding block do not locked is adjusted, leveling bubble is in zero-bit, and lock column sliding block, again really
Recognize workbench up-regulation par bubble and be in zero-bit.So as to realize the vertical motion of parallel moving mechanism.
When carrying out the horizontal movement of parallel moving mechanism, first check for whether column sliding block 26 is in locking state, if unlocked
Tightly, handled according to above-mentioned vertically movable operation.When doing anterior-posterior horizontal motion, both hands to hold horizontal Y posts locking and slide
The horizontal frame of block side, gently exerts oneself, and makes Y post locking sliding block smooth slidings, rotates Y post locking screws after moving to correct position
The locking handwheel 30 of bar upper end, Y posts locking sliding block 28 is locked.The leveling bubble of work top is now observed, by rotating phase
The adjusting handle of worm screw is answered, is at zero-bit.
Before the side-to-side movement for carrying out parallel moving mechanism, first check whether column sliding block 26 is in locking state with cross sliding clock,
If not locking, locking operation is carried out according to corresponding operating procedure.When carrying out side-to-side movement, both hands hold analog carrier clamping
Platform 32, gently exerts oneself, and makes the smooth sliding on X posts guide rail 35 of X posts sliding block 33, when moving to correct position, screws the locking of X posts
Sliding block 34, it is ensured that analog carrier clamping platform 32 is firm.
The fixation of analog carrier and geomagnetic sensor：Geomagnetic sensor is installed on sensor clamping platform 23, screws top
Tight screw 24, makes geomagnetic sensor be stabilized on sensor clamping platform.Analog carrier is positioned over analog carrier clamping platform afterwards
On 32, consolidate carrier by the Top fastening screw on analog carrier clamping platform.Sensor clamping platform 23 is relative to table with revolvable top three
The error of direction of principal axis is not more than, and sensor clamping platform keeps in the same direction with analog carrier clamping platform, its relative position error
It is not more than。
Apparatus of the present invention are applied to test procedure when magnetic survey Error Compensation Algorithm is verified：
（1）The leveling of operation progress device is handled before being tested more than.Until rotating turntable,,,Four
Position, bubble, which changes, is no more than 3 lattice, it is believed that now turntable reaches horizontal；
（2）Magnetic survey sensor is fixed on sensor clamping platform 23, gently gyrobearing axle handwheel, pitch axis handwheel,
Sloping shaft handwheel, sensor attitude angle is set to be adjusted in the range of 360 degree of azimuth, inclination angle, positive and negative 40 degree of the angle of pitch, and
Geomagnetic field intensity during different postures is measured, the geomagnetic field measuring under multigroup different posture positions is obtained by signal pickup assembly
Value, and attitude angle corresponding to record；
（3）By step（2）The magnetic field intensity of acquisition and its corresponding attitude angle are input in computer-processing software, pass through setting
Backoff algorithm compensate calculating, obtain the geomagnetic field intensity during interference of no carrier；
（4）Preprepared analog carrier is arranged on analog carrier clamping platform 32, both hands hold column sliding block 26, slowly
Promote, make its smooth sliding on column guide rail 20, when being moved to suitable vertical position, the column latch segment of fixed one end
25, the leveling bubble 49 on carrier clamping platform 32 is observed, adjusts the column sliding block 26 of the other end, until leveling bubble 49 is in zero
Position, locking column latch segment 25；Afterwards, both hands hold the connecting rod of cross sliding clock side, gently exert oneself, and make Y posts locking sliding block 28
Smooth sliding is carried out on Y column holders 27, when link motion is to suitable front and back position, locking handwheel 30 is screwed, makes connecting rod
It is firm；Afterwards, both hands hold X posts sliding block 33, gently exert oneself, and make its smooth sliding on X post guide rails, when slide block movement is to properly
Right position when, be fixed in by X posts locking sliding block 34 on X posts guide rail 35.So as to complete to simulate by parallel moving mechanism
Carrier and the change of magnetic survey sensor relative position.Afterwards, three axle handwheels are adjusted, make device repeat step（2）In it is each
Group posture position angle, corresponding step is measured with magnetic survey sensor（2）Geomagnetic field overall strength under middle each group posture position,
Geomagnetic total field measured value under multigroup different posture positions, and attitude angle corresponding to record are obtained by signal pickup assembly；
（5）By step（4）The magnetic field overall strength and its corresponding attitude angle of acquisition are input in computer-processing software, by setting
The backoff algorithm put compensates calculating, senses magnetic caused by the geomagnetic field intensity and carrier when obtaining existing carrier interference
Field intensity；
（6）In identical test position point, selection is different from step（2）, step（4）Posture position angle, repeat step（4）'s
Operation, obtains the geomagnetic field overall strength under multigroup different posture positions, and carries out data acquisition, is transferred in computer software
Calculating is compensated, verifies the compensation precision of algorithm for design.
Many details are elaborated in superincumbent description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by particular embodiments disclosed above.
Claims (10)
- A kind of 1. magnetic survey error compensation experimental rig, it is characterised in that：Turntable including being capable of six degree of freedom adjustment, it is described Turntable includes base and its rotating mechanism of top, the rotating mechanism are connected with workbench, and the rotating mechanism includes pitching Moving parts, banking motion component and azimuth adjustment component, the angle of pitch, inclination angle and azimuthal are realized by rotating mechanism Adjustment；The base bottom is provided with levelling gear；It is vertical in the middle part of the workbench to be provided with support frame, it is provided with the top of support frame as described above Sensor clamping platform, the workbench top are additionally provided with analog carrier clamping platform, and the analog carrier clamping platform is free by three Degree parallel moving mechanism is connected with workbench, and the parallel moving mechanism includes vertical motion assemblies and horizontal movement component；The magnetic survey of described ground Amount error compensation experimental rig is made from non-magnetic material.
- 2. magnetic survey error compensation experimental rig according to claim 1, it is characterised in that：The elevating movement component Including pitch axis, pitch axis worm screw and pitch axis worm gear, the pitch axis is fixed on workbench bottom, the pitch axis worm screw with Pitch axis is fixedly linked, and the pitch axis worm gear coordinated with pitch axis worm screw is fixed in rotating shaft；The banking motion component includes Sloping shaft and sloping shaft worm screw, the sloping shaft worm screw are arranged on support, with sloping shaft worm screw coordinate sloping shaft worm gear with Sloping shaft is fixedly connected；Azimuth adjustment component includes azimuth axis, orientation worm screw and azimuth axis worm gear, the azimuth axis and Support is connected, and the azimuth axis is fixedly linked with azimuth axis worm gear, and the orientation worm screw and azimuth axis worm gear are arranged at shield It is interior.
- 3. magnetic survey error compensation experimental rig according to claim 1 or 2, it is characterised in that：The vertical movement Component includes column guide rail, column sliding block and column latch segment, and the column guide rail is two and is symmetricly set on workbench On, the column slide block set is on column guide rail, and the column latch segment coordinates with column sliding block, and the column sliding block can It is fixed on by column latch segment on column guide rail；Horizontal movement component is provided between two column sliding blocks.
- 4. magnetic survey error compensation experimental rig according to claim 3, it is characterised in that：The horizontal movement component Including side-to-side movement part and part is moved forward and backward, the part that moves forward and backward includes Y column holders, Y posts locking sliding block and Y posts lock Tight screw rod, the Y column holders are arranged on horizontal frame both sides and its both ends and are fixed on the inside of horizontal frame, the horizontal frame It is fixedly linked with two heel post sliding blocks, the Y posts locking sliding block is arranged on Y column holders, the Y posts tie down screw and Y posts Locking sliding block coordinates, and Y post locking sliding blocks can be fixed on Y column holders by Y posts tie down screw；The side-to-side movement part Including X posts guide rail, X posts sliding block and X post latch segments, the X posts guide rail is two of parallel side-by-side and is each attached to the locking of Y posts On sliding block, the X posts sliding block is arranged on X post guide rails and can be fixed on by X post latch segments on X post sliding blocks.
- 5. magnetic survey error compensation experimental rig according to claim 2, it is characterised in that：Set below the pitch axis There are dial I, the dial I to be provided with vernier I, the shield top is provided with dial II, and the dial II edges are set There are vernier II, the vernier II to be arranged on vernier seat.
- 6. magnetic survey error compensation experimental rig according to claim 2, it is characterised in that：The sloping shaft worm screw, Pitch axis worm screw and orientation worm end are respectively mounted adjusting handle.
- 7. magnetic survey error compensation experimental rig according to claim 1, it is characterised in that：The workbench and simulation Carrier clamping platform upper surface is equipped with leveling bubble, and the worktable upper surface is provided with two orthogonal leveling bubbles, institute State analog carrier clamping edge of table and be provided with a leveling bubble.
- 8. magnetic survey error compensation experimental rig according to claim 1, it is characterised in that：The levelling gear includes Leveling lower margin, linkage levelling screw and nut, the linkage levelling screw is set through the base of turntable and bottom is provided with leveling lower margin, institute Linkage levelling screw is stated to be fixedly connected with the base of turntable by nut.
- 9. magnetic survey error compensation experimental rig according to claim 1, it is characterised in that：The angle of pitch and inclination The adjusting range at angle is positive and negative 40 degree, and azimuthal adjusting range is 360 degree.
- 10. magnetic survey error compensation experimental rig according to claim 8, it is characterised in that：On the linkage levelling screw End is provided with leveling handwheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710366514.2A CN107340001B (en) | 2017-05-23 | 2017-05-23 | Geomagnetic measurement error compensation test device |
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| CN201710366514.2A CN107340001B (en) | 2017-05-23 | 2017-05-23 | Geomagnetic measurement error compensation test device |
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| CN107340001B CN107340001B (en) | 2020-02-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112009667A (en) * | 2020-07-31 | 2020-12-01 | 彩虹无人机科技有限公司 | Low-magnetism magnetic detection special wing |
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| CN107340001B (en) | 2020-02-28 |
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