CN107390277B - A kind of absolute earth magnetism observation method of high-precision automatic - Google Patents
A kind of absolute earth magnetism observation method of high-precision automatic Download PDFInfo
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- CN107390277B CN107390277B CN201710592326.1A CN201710592326A CN107390277B CN 107390277 B CN107390277 B CN 107390277B CN 201710592326 A CN201710592326 A CN 201710592326A CN 107390277 B CN107390277 B CN 107390277B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The present invention provides a kind of absolute earth magnetism observation method of high-precision automatic, it include: that utterly magnetism measuring mechanism, the utterly magnetism measuring mechanism include supporting mechanism (1), two dimension without magnetic rotation rotation mechanism (2) and measuring unit (3) in point layout；In selected location arrangements marker position sensor (4)；Also, the marker position sensor is a kind of sensor realized the same PSD sensor and carry out azimuthal measurement to two-way different height incident laser；Initial registration mark object location sensor process；The step of measuring geomagnetic declination D；The measuring process of geomagnetic inclination I.Advantage are as follows: with laser instead of traditional marker, by the way of laser alignment marker, can effectively ensure that the accuracy of registration mark object, to guarantee the measurement accuracy for the geomagnetic declination D and geomagnetic inclination I that measurement obtains.
Description
Technical field
The invention belongs to geomagnetic observation technology fields, and in particular to a kind of absolute earth magnetism observation method of high-precision automatic.
Background technique
Fluxgate theodolite is the instrument for measuring absolute geomagnetic parameter, generally comprises fluxgate sensor and common
Theodolite；Plain transit is configured with telescope.Fluxgate sensor is fixed on telescope, also, fluxgate sensor
Magnetic axis is substantially parallel with telescope optic axis.Fluxgate theodolite can measure to geomagnetic declination D and geomagnetic inclination I.With geomagnetic declination D
Measurement for, measuring principle are as follows: rotation telescope manually first, and by visually observing makes telescope registration mark object,
Mark azimuth angle alpha is obtained by theodolite scale at this time；Then, continue rotation fluxgate sensor manually in the horizontal plane, directly
When the magnetic field measured to fluxgate sensor is 0, the as vertical direction of geomagnetic horizontal intensity H, the horizontal disk-read of theodolite at this time
Reading is β, and therefore ,+90 ° of β are direction of terrestrial magnetic north to m；Again by mark azimuth angle alpha, geomagnetic declination D can be calculated.
The above-mentioned method by fluxgate transit survey geomagnetic declination D and geomagnetic inclination I, has the disadvantage that
(1) telescope registration mark object is made using visual viewing method, unavoidably there is the biggish error of observation, thus
Reduce the measurement accuracy for finally measuring obtained geomagnetic declination D and geomagnetic inclination I；
(2) fluxgate sensor is rotated manually, and by position of the determining magnetic field for 0 is visually observed, still unavoidably
There are the biggish errors of observation, thereby reduce measurement accuracy.
Summary of the invention
In view of the defects existing in the prior art, the present invention provides a kind of automatized magnetic open gate warp for absolute geomagnetic observation
Latitude instrument can effectively solve the above problems.
The technical solution adopted by the invention is as follows:
The present invention provides a kind of absolute earth magnetism observation method of high-precision automatic, comprising the following steps:
Step 1, in point layout utterly magnetism measuring mechanism, the utterly magnetism measuring mechanism include supporting mechanism (1),
Two dimension is without magnetic rotation rotation mechanism (2) and measuring unit (3)；Wherein, the two dimension is set to the support machine without magnetic rotation rotation mechanism (2)
In structure (1)；The two dimension includes level without magnetic rotation unit and vertically without magnetic rotation unit without magnetic rotation rotation mechanism (2)；It is described to hang down
Directly without magnetic rotation unit be set to it is described level without magnetic rotation unit above；The measuring unit (3) is set to the vertical nothing
Above magnetic rotation unit, comprising: parallel bracket (3.1), laser (3.2) and simple component fluxgate magnetic core (3.3)；It is described parallel
The laser (3.2) is installed in one end in the upper and lower ends of bracket (3.1), and the other end installs the simple component fluxgate magnetic core
(3.3)；The laser (3.2) and the simple component fluxgate magnetic core (3.3) are arranged in parallel；
It is described vertically without magnetic rotation unit to be used to that the measuring unit (3) to be made to rotate in vertical space and automatically record rotation
Corner angle value；The level is without magnetic rotation unit for making the measuring unit (3) rotate and automatically record in horizontal space
Rotation angle value；Wherein, described vertically to respectively include without magnetic rotation unit and the level without magnetic rotation unit for realizing nothing
The piezoelectric motor of magnetic rotation and for read rotation angle laser readings head；
In selected location arrangements marker position sensor (4)；Also, the marker position sensor is a kind of reality
The existing same PSD sensor carries out the sensor of azimuthal measurement to two-way different height incident laser, comprising: outer housing (4.1),
Beam splitter (4.2), reflecting mirror (4.3) and PSD position sensor (4.4)；
The inside of the outer housing (4.1) is fixed in beam splitter (4.2) inclination；In the saturating of the beam splitter (4.2)
It penetrates in optical path, the PSD position sensor (4.4) is fixedly mounted；The reflecting mirror (4.3) is located at the beam splitter (4.2)
The light splitting surface of underface, the reflecting surface and the beam splitter (4.2) of the reflecting mirror (4.3) is arranged in parallel；
The vertical range and laser (3.2) of the reflecting mirror (4.3) to beam splitter (4.2) arrive simple component fluxgate magnetic core
(3.3) vertical range is identical；
During instrument is set up, measuring unit (3) are leveled, it is ensured that laser (3.2) He Danfen of measuring unit (3)
Amount fluxgate magnetic core (3.3) is in horizontal checkout face；Meanwhile the laser facula height issued according to laser after leveling (3.2),
The window height for adjusting the marker position sensor (4) keeps the two contour；
Step 2, initial registration mark object location sensor process, comprising:
Step 2.1, make laser (3.2) parallel arrangement in the top of simple component fluxgate magnetic core (3.3)；
Step 2.2, master controller opens laser (3.2), meanwhile, master controller controls level without magnetic rotation unit
System, so that laser (3.2) be made to rotate in horizontal space, the horizontal laser light that laser (3.2) is launched approaches marker position
The induction window of sensor, it may be assumed that approach the induction window of PSD position sensor (4.4)；
Step 2.3, master controller continues controlled level without magnetic rotation unit rotational, and the laser warp for launching laser
After the transmission effect of beam splitter (4.2), the induction window edge of glancing incidence to PSD position sensor (4.4), to make data
Collector collects induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in PSD
The different location of position sensor induction window corresponds to different induced voltages, when data collector collects specified induced voltage
When, i.e., expression level has rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level is stopped without magnetic rotation unit
Rotation stop is dynamic, and obtains the refined orientation angle of simple component fluxgate magnetic core (3.3) at this time, is denoted as N1, thus complete to survey mark telescope direct
Amount；
Step 2.4, then, master controller without magnetic rotation unit to vertically controlling, so that measuring unit (3) be driven to exist
Vertical space rotates 180 °, locks laser (3.2) parallel arrangement in the lower section of simple component fluxgate magnetic core (3.3), then
Vertically without magnetic rotation unit；
Step 2.5, then, master controller again controls level without magnetic rotation unit, to make level without magnetic rotation
The horizontal laser light for turning unit rotational, and launching laser (3.2) by reflecting mirror (4.3) upwards reflex, using
After the reflex of beam splitter (4.2), it is incident on the induction window edge of PSD position sensor (4.4), so that data be made to acquire
Device collects induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in the position PSD
The different location of sensor sensing window corresponds to different induced voltages, when data collector collects specified induced voltage,
I.e. expression level has rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level stops without magnetic rotation unit
Rotation, master controller obtain the refined orientation angle of simple component fluxgate magnetic core (3.3) at this time, are denoted as N2, thus complete anti-to marking
Mirror measurement；
Step 2.6, master controller is by N1And N2It averages, obtains mark reading N；
Step 3, the step of measuring geomagnetic declination D, comprising:
Step 3.1, master controller closes laser (3.2), opens simple component fluxgate magnetic core (3.3), at this point, laser
(3.2) parallel arrangement is in the lower section of simple component fluxgate magnetic core (3.3)；
Step 3.2, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal of fluxgate magnetic core (3.3) output is 0, and when reaching 0, master controller is with obtaining 0 value of external magnetic field
The angle value D of the first measurement position of magnetic declination1；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal of fluxgate magnetic core (3.3) output is 0, and when reaching 0, master controller is with obtaining 0 value of external magnetic field
The angle value D of the second measurement position of magnetic declination2；
Step 3.3, then, master controller without magnetic rotation unit to vertically controlling, so that measuring unit (3) be driven to exist
Vertical space rotates 180 °, locks laser (3.2) parallel arrangement in the top of simple component fluxgate magnetic core (3.3), then
Vertically without magnetic rotation unit；
Step 3.4, then, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge list
Whether the external magnetic field strength signal of Component of magnetic flux gate probe (3.3) output is 0, and when reaching 0, master controller obtains external magnetic field 0
It is worth the angle value D of geomagnetic declination third measurement position3；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal of fluxgate magnetic core (3.3) output is 0, and when reaching 0, master controller is with obtaining 0 value of external magnetic field
The angle value D of the 4th measurement position of magnetic declination4；
Step 3.5, the angle value D of the first measurement position of geomagnetic declination1, the second measurement position of geomagnetic declination angle value D2、
The angle value D of geomagnetic declination third measurement position3With the angle value D of the 4th measurement position of geomagnetic declination4It averages, as earth magnetism
North reading D0；
Practical declination D is calculated according to following formula:
Practical declination D=magnetic north reads D0Geographic north reads D to reading=magnetic north0(mark reading N- mark
Azimuth)；
Wherein, mark azimuth is measured in advance by Geomagnetic Station obtains, as using measurement point as the center of circle, geographic north and mark
The angle of object.
It preferably, further include step 4, the measuring process of geomagnetic inclination I, specifically:
Step 4.1, laser (3.2) parallel arrangement is in the top of simple component fluxgate magnetic core (3.3), master controller control
Level, which is rotated without magnetic rotation unit to magnetic north, reads D0Position；At this point, simple component fluxgate magnetic core (3.3) is located at magnetic meridian plate
It is interior；
Then, locking level is no longer rotated without magnetic rotation unit；Master controller to vertically being controlled without magnetic rotation unit,
To drive laser (3.2) and simple component fluxgate magnetic core (3.3) to rotate synchronously in magnetic meridian plate；Meanwhile master controller
Whether the external magnetic field strength signal that real-time judge simple component fluxgate magnetic core (3.3) measures is 0, and when reaching 0, master controller is obtained
To the angle value I of 0 the first measurement position of value geomagnetic inclination of external magnetic field1；
Then, master controller continue control vertically rotated round about without magnetic rotation unit, when fluxgate magnetic core again
Measure external magnetic field strength signal be 0 when, master controller obtains the angle value I of 0 the second measurement position of value geomagnetic inclination of external magnetic field2；
Step 4.2, next, master controller controlled level is rotated without magnetic rotation unit, and D is stopped at0+ 180 ° of position or
D0The position of -180 ° of position；
Then, locking level is no longer rotated without magnetic rotation unit；
Master controller without magnetic rotation unit to vertically controlling, to drive laser (3.2) and simple component fluxgate
Probe (3.3) rotates synchronously in magnetic meridian plate；Meanwhile master controller real-time judge simple component fluxgate magnetic core (3.3) measures
External magnetic field strength signal whether be 0, when reaching 0, master controller obtains 0 value geomagnetic inclination third measurement position of external magnetic field
Angle value I3；
Step 4.3, master controller continues to control and vertically rotate round about without magnetic rotation unit, when simple component fluxgate
Probe (3.3) measure again external magnetic field strength signal be 0 when, master controller obtain 0 value geomagnetic inclination the 4th of external magnetic field measurement position
The angle value I set4；
Step 4.4, inclination obliquity I is obtained based on following formula:
Inclination obliquity I=(I1+I2-I3-I4)/4。
The absolute earth magnetism observation method of high-precision automatic provided by the invention has the advantage that
(1) by the way of laser alignment marker, it can effectively ensure that alignment instead of traditional marker with laser
The accuracy of marker, to guarantee the measurement accuracy for the geomagnetic declination D and geomagnetic inclination I that measurement obtains；
(2) devise a kind of two dimension of carrying simple component fluxgate magnetic core without magnetic rotation rotation mechanism, can automatic, high precision realize
The horizontal rotation of simple component fluxgate magnetic core and vertical rotary, the final automatic measurement for realizing geomagnetic declination D and geomagnetic inclination I；
(3) a kind of marker position sensor of special construction is devised, it can be achieved that cleverly realizing same position
Azimuthal measurement of the PSD sensor to two-way different height incident laser, thus measurement when reducing change face registration mark object
Error improves geomagnetic field measuring precision.
Detailed description of the invention
Fig. 1 is the measuring principle figure of practical declination D.
Fig. 2 shows for the 1st stereochemical structure of the automatized magnetic open gate theodolite provided by the present invention for absolute geomagnetic observation
It is intended to；
Fig. 3 shows for the 2nd stereochemical structure of the automatized magnetic open gate theodolite provided by the present invention for absolute geomagnetic observation
It is intended to；
Fig. 4 shows for the 3rd stereochemical structure of the automatized magnetic open gate theodolite provided by the present invention for absolute geomagnetic observation
It is intended to；
Fig. 5 is the automatized magnetic open gate theodolite provided by the present invention for absolute geomagnetic observation in no installation column
The 1st schematic perspective view；
Fig. 6 is the automatized magnetic open gate theodolite provided by the present invention for absolute geomagnetic observation in no installation column
The 2nd schematic perspective view；
Fig. 7 is the 1st schematic perspective view of measuring unit provided by the invention；
Fig. 8 is the 2nd schematic perspective view of measuring unit provided by the invention；
Fig. 9 is the schematic perspective view of marker position sensor provided by the invention；
Figure 10 is structural schematic diagram of the marker position sensor provided by the utility model when not showing outer housing；
Figure 11 is measuring principle figure of the marker position sensor to the 1st height incident laser orientation；
Figure 12 is measuring principle figure of the marker position sensor to the 2nd height incident laser orientation.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
The present invention provides a kind of absolute earth magnetism observation method of high-precision automatic, can be used for resource exploration, magnetic detection, big
The absolute magnetic survey in the fields such as ground detection, earth-magnetism navigation, main feature are summarized as follows:
(1) fixed installation simple component fluxgate magnetic core and laser absolute parallel on the parallel bracket of measuring unit, will
Traditional marker replaces with PSD position sensor, therefore, laser and the cooperation of PSD position sensor, in registration mark object
When, the laser projection that laser issues is believed to the induction window of PSD position sensor by the output of PSD position sensor
Number and determine whether registration mark object can effectively ensure that registration mark object by the way of laser alignment marker to laser
Accuracy, to guarantee the measurement accuracy for the geomagnetic declination D and geomagnetic inclination I that measurement obtains；
(2) a kind of two dimension of carrying simple component fluxgate magnetic core is devised without magnetic rotation rotation mechanism, and two dimension is without magnetic rotation rotation mechanism
Including level without magnetic rotation unit and vertically without magnetic rotation unit, level is without magnetic rotation unit without magnetic rotation unit and vertically
The closed-loop control system being made of no magnetic piezoelectric motor, laser readings head and Circular gratings code-disc, so as to automatic, high precision realization
The horizontal rotation of simple component fluxgate magnetic core and vertical rotary, the final automatic measurement for realizing geomagnetic declination D and geomagnetic inclination I；
(3) a kind of marker position sensor of special construction is devised, it can be achieved that cleverly realizing same position
Azimuthal measurement of the PSD sensor to two-way different height incident laser, thus measurement when reducing change face registration mark object
Error further improves the accuracy of measurement of geomagnetic declination D and geomagnetic inclination I.
Specifically, the absolute earth magnetism observation method of high-precision automatic, with reference to Fig. 1, comprising the following steps:
Step 1, in point layout utterly magnetism measuring mechanism, utterly magnetism measuring mechanism includes supporting mechanism 1, two-dimentional nothing
Magnetic rotation rotation mechanism 2 and measuring unit 3；Wherein, two dimension is set in supporting mechanism 1 without magnetic rotation rotation mechanism 2, and supporting mechanism can be used
Any kind of mechanical structure, as long as two dimension can be supported without magnetic rotation rotation mechanism 2；
Two dimension includes level without magnetic rotation unit and vertically without magnetic rotation unit without magnetic rotation rotation mechanism 2；Vertically without magnetic rotation
Unit be set to level without magnetic rotation unit above；That is, when vertically without magnetic rotation unit when vertical space rotates, water
It is flat fixed without magnetic rotation unit；And when level without magnetic rotation unit when horizontal space rotates, can the vertical nothing of synchronous drive
Magnetic rotation unit is rotated in horizontal space；
Measuring unit 3 be set to vertically without magnetic rotation unit above, that is to say, that when vertically without magnetic rotation unit vertical
When Space Rotating, meeting synchronous drive measuring unit is rotated in vertical space；The structure of measuring unit includes: parallel bracket 3.1, swashs
Light device 3.2 and simple component fluxgate magnetic core 3.3；Laser 3.2 is installed in one end in the upper and lower ends of parallel bracket 3.1, another
End installation simple component fluxgate magnetic core 3.3；Laser 3.2 and simple component fluxgate magnetic core 3.3 are arranged in parallel；
Therefore, vertically without magnetic rotation unit for rotating measuring unit 3 in vertical space and automatically recording rotation angle
Angle value；Level is without magnetic rotation unit for rotating measuring unit 3 in horizontal space and automatically recording rotation angle value；It is existing
In technology, all vertical no magnetic rotation units for being able to achieve above-mentioned function and level are protected in the present invention without magnetic rotation unit
Among range.As a kind of specific embodiment, attached drawing can refer to, vertically distinguish without magnetic rotation unit and level without magnetic rotation unit
Including the piezoelectric motor for realizing no magnetic rotation and the laser readings head for reading rotation angle.
For convenience of understanding the present invention, with reference to Fig. 2-Fig. 6, one embodiment is described below, but it needs to be emphasized that
Supporting mechanism 1 described below, two dimension are only a specific example without magnetic rotation rotation mechanism 2 and measuring unit 3, do not limit this hair
Bright protection scope:
(1) supporting mechanism
Supporting mechanism 1 is the carrying foundation structure of entire automatized magnetic open gate theodolite, including top panel 1.1, lower panel
1.2 and column 1.3；Top panel 1.1 and lower panel 1.2 are symmetrical above and below horizontally disposed；The setting quantity of column 1.3 is at least two
It is a, it is fixedly installed between top panel 1.1 and lower panel 1.2；Supporting mechanism 1 further includes adjustment screw 1.4；Adjust screw 1.4
Setting quantity can be 3, be equidistantly fixedly installed in the bottom of lower panel 1.2, can by adjusting the corrective action of screw
Adjust the levelness of entire instrument.
(2) two dimension is without magnetic rotation rotation mechanism
Two dimension is to carry out rotating horizontally with vertical rotary, together for realizing simple component fluxgate magnetic core without magnetic rotation rotation mechanism 2
When be accurately measured rotation angle mechanism.Since nonmagnetic requirement of the simple component fluxgate magnetic core to working environment is very high,
Therefore, Two Dimensional Rotating mechanism need to guarantee nonmagnetic.
Two dimension includes level without magnetic rotation unit and vertically without magnetic rotation unit without magnetic rotation rotation mechanism；Level is without magnetic rotation list
Member is for rotating measuring unit 3 in horizontal space, comprising: without magnetic axis frame 2.1, the 1st vertical pivot 2.2, the 2nd vertical pivot the 2.3, the 1st
Circular gratings code-disc 2.4, the 1st laser readings head 2.5, the 1st piezoelectric ceramic ring 2.6 and the 1st piezoelectric motor 2.7；
No magnetic axis frame 2.1 is arranged vertically, and the 1st vertical pivot is respectively fixedly mounted in the bottom centre of no magnetic axis frame 2.1 and top center
2.2 and the 2nd vertical pivot 2.3；Wherein, the bottom of the 1st vertical pivot 2.2 is pivotally mounted to the center of lower panel 1.2 by bearing；
1st piezoelectric ceramic ring 2.6 is located below the top of plate 1.2, and it is perpendicular so that the center fixing sleeve of the 1st piezoelectric ceramic ring 2.6 is set to the 2nd
On axis 2.3, the 1st piezoelectric motor 2.7 is fixedly installed in the upper surface of lower panel 1.2, also, the output end of the 1st piezoelectric motor 2.7
With the intimate surface contact of the 1st piezoelectric ceramic ring 2.6, the 1st piezoelectric motor 2.7 drives the 2nd to erect by the 1st piezoelectric ceramic ring 2.6
Axis 2.3 rotates in horizontal space, and then drives and rotate in horizontal space without magnetic axis frame 2.1；The top of 2nd vertical pivot 2.3 is logical
Cross the top that bearing is pivotally mounted to the center of top panel 1.1 and extends to top panel 1.1；1st Circular gratings code-disc 2.4
The top of plate 1.1 located above, also, the center of the 1st Circular gratings code-disc 2.4 is fixedly connected with the 2nd vertical pivot 2.3, and the 1st laser is read
It is connect with the 1st Circular gratings code-disc 2.4 for several 2.5, the rotation angle value measured for reading the 1st Circular gratings code-disc 2.4；
It include vertically horizontal axis 2.8, the 2nd Circular gratings code-disc 2.9, the 2nd laser readings head the 2.10, the 2nd pressure without magnetic rotation unit
Electroceramics ring 2.11 and the 2nd piezoelectric motor 2.12；Horizontal axis 2.8 is horizontally disposed vertical in the left-hand stringer of no magnetic axis frame 2.1 and right side
Between beam, also, the right end of horizontal axis 2.8 is pivotally mounted to the center of right-hand stringer by bearing；2nd piezoelectric ceramic ring 2.11
Positioned at the inside of right-hand stringer, and make the center fixing sleeve of the 2nd piezoelectric ceramic ring 2.11 set on the right end of horizontal axis 2.8, the 2nd piezoelectricity
Motor 2.12 is fixedly installed in the inside of right-hand stringer, also, the output end and the 2nd piezoelectric ceramic ring of the 2nd piezoelectric motor 2.12
2.11 intimate surface contact, the 2nd piezoelectric motor 2.12 drive horizontal axis 2.8 in vertical space by the 2nd piezoelectric ceramic ring 2.11
Middle rotation；The left end of horizontal axis 2.8 is pivotally mounted to the center of left-hand stringer by bearing and extends to left-hand stringer
Outside；2nd Circular gratings code-disc 2.9 is located at the outside of left-hand stringer, also, the center of the 2nd Circular gratings code-disc 2.9 and horizontal axis 2.8
Left end be fixedly connected, the 2nd laser readings head 2.10 is connect with the 2nd Circular gratings code-disc 2.9, for read the 2nd Circular gratings code-disc
2.9 rotation angle values measured；
As it can be seen that level is without magnetic rotation unit and vertically by no magnetic piezoelectric motor, laser readings head without magnetic rotation unit
With the closed-loop control system of Circular gratings code-disc composition.Specifically, for level without magnetic rotation unit, by controlling the 1st piezoelectric electro
Machine realizes horizontal space rotation；It may be read into horizontal rotation angle by the 1st laser readings head.For vertically without magnetic rotation list
Member realizes vertical space rotation by controlling the 2nd piezoelectric motor；It may be read into vertical rotary angle by the 2nd laser readings head
Degree.It is thus achieved that the rotation of simple component fluxgate magnetic core high-precision and automation.
Using the driving mechanism of piezoelectric motor and piezoelectric ceramic ring, the nonmagnetic of driving mechanism ensure that, it will not be to single point
The measurement for measuring fluxgate magnetic core generates interference.
(3) measuring unit
With reference to Fig. 7-Fig. 8, measuring unit 3 includes: parallel bracket 3.1, laser 3.2,3.3 and of simple component fluxgate magnetic core
Electronic horizon sensor 3.4；
The geometric center of parallel bracket 3.1 offers the mounting hole to match with horizontal axis 2.8；Parallel bracket 3.1 passes through peace
Dress hole is fixedly installed in the center of horizontal axis 2.8；The upper and lower ends of parallel bracket 3.1 are equipped with 3.2 He of laser disposed in parallel
Simple component fluxgate magnetic core 3.3；Electronic horizon sensor 3.4 is fixedly mounted in the side of parallel bracket 3.1；In initial setup process
In, since laser 3.2 and simple component fluxgate magnetic core 3.3 are both secured on parallel bracket, it is ensured that laser 3.2
With the abswolute level of simple component fluxgate magnetic core 3.3, and then guarantee absolute magnetic survey precision.
(4) marker position sensor
Marker is the helpers in absolute magnetic survey, and traditional marker is the clump for being fixed on specific position
Or the Dali stone pier can only be realized when cooperating with telescope and visually observe registration mark object.
Automatized magnetic open gate theodolite provided by the invention, completely without using telescope, but that innovates uses
Laser, and corresponding marker use PSD position sensor, therefore, laser and PSD position sensor cooperation, it can be achieved that
High precision registration mark object.
In addition, during carrying out automating absolute magnetic survey, to eliminate laser optical axis and fluxgate magnetic core axis
Angle, it usually needs twice by the way of registration mark object, pacified to eliminate lowering apparatus using telescope direct alignment and reversing face alignment
Fill error.Wherein, telescope direct alignment refers to: laser is located at the top of fluxgate magnetic core；Anti- mirror alignment refers to: laser is located at magnetic
The lower section of open gate probe.Therefore, if needing to install lower two identical PSD using conventional PSD position sensor
Position sensor could realize telescope direct alignment and reversing face alignment respectively.This kind of mode has the following deficiencies: (1) needing to install two
A PSD position sensor, increases installation cost；(2) up and down two PSD position sensors need to guarantee to be substantially parallel it is concentric,
Otherwise the error of registration mark object can be introduced, it is therefore, accurate to installation very strict；(3) even buying identical model
PSD position sensor, but due to the performance of two PSD position sensors can not it is identical, still can be due to two
Difference existing for a PSD position sensor and increase measurement error.
Therefore, what inventor innovated proposes a kind of novel position-measurement device based on PSD position sensor, can be real
Azimuthal measurement of the PSD sensor of existing same position to two-way different height incident laser, thoroughly solves above-mentioned traditional approach and deposits
Deficiency.
Specifically, in selected location arrangements marker position sensor 4；Also, marker position sensor is one kind
Realize that the same PSD sensor carries out the sensor of azimuthal measurement to two-way different height incident laser, comprising: outer housing 4.1,
Beam splitter 4.2, reflecting mirror 4.3 and PSD position sensor 4.4；Beam splitter 4.2 tilts the inside for being fixed on outer housing 4.1；Dividing
On the transmitted light path of beam mirror 4.2, PSD position sensor 4.4 is fixedly mounted；Reflecting mirror 4.3 is located at the underface of beam splitter 4.2,
The reflecting surface of reflecting mirror 4.3 and the light splitting surface of beam splitter 4.2 are arranged in parallel；Reflecting mirror 4.3 to beam splitter 4.2 vertical range and
The vertical range of laser 3.2 to simple component fluxgate magnetic core 3.3 is identical.
Its principle are as follows: when using telescope direct alignment laser mark, as shown in figure 11, laser is located at the spy of simple component fluxgate
The top of head, at this point, the laser beam that laser is launched is directly incident on the center line A of beam splitter 4.2, through beam splitter 4.2
Laser beam after transmission projects PSD position sensor 4.4, and therefore, PSD position sensor detects what laser was launched
The orientation of laser beam.
When using anti-mirror alignment laser mark, horizontal axis rotation drives parallel bracket to rotate in vertical plane, and then make to swash
Light device is located at the lower section of simple component fluxgate magnetic core, and as shown in figure 12, therefore, the laser beam that laser is launched is incident on instead
Mirror is penetrated, after the upward reflex of reflecting mirror, impinges perpendicularly on the position of the center line A of beam splitter, then the reflection through beam splitter
Afterwards, glancing incidence is to PSD position sensor, and therefore, PSD position sensor detects the side for the laser beam that laser is launched
Position.
Further, the sensitivity detected for the incident laser of realization two-way different height same intensity by PSD sensor
Identical problem, that is to say, that when the two-way laser projection of different height, laser light spot intensity that PSD sensor detects
It is identical, the tilt angle of beam splitter can be designed, make it in 45 degree of designs.
Be it is easy to use, a kind of more specifically marker position sensor is described below: outer housing 4.1 is front opening
Cavity structure；Beam splitter 4.2 tilts the inside for being fixed on outer housing 4.1, specifically, beam splitter 4.2 can pass through beam splitter
Braced frame 4.6 is fixed on the inner cavity of outer housing 4.1.
Also, the light splitting surface of beam splitter 4.2 and axis are in 45 degree of angles；During the center line of the light splitting surface of beam splitter 4.2 is
Heart line A, center line A are connected to the front opening of outer housing 4.1；Outer housing 4.1 rear end inner wall and be located at beam splitter 4.2
On transmitted light path by center line A, PSD position sensor 4.4 is fixedly mounted；In front of the photosurface of PSD position sensor 4.4
Optical filter 4.5 can be also fixedly installed with.Top in outer housing 4.1 and the reflected light by center line A positioned at beam splitter 4.2
On the road, loophole 4.7 is offered.
Reflecting mirror 4.3 tilts the bottom wall for being fixed on outer housing 4.1, the light splitting of the reflecting surface and beam splitter 4.2 of reflecting mirror 4.3
Face is arranged in parallel, also, the reflecting surface center line of reflecting mirror 4.3 is center line B, and center line B is located at the underface of center line A,
Therefore, the laser of center line B of glancing incidence to reflecting mirror 4.3 impinges perpendicularly on after the upward reflex of reflecting mirror 4.3
The position of the center line A of beam splitter 4.2, then after the reflection of beam splitter 4.2, glancing incidence to PSD position sensor 4.4, by
PSD position sensor 4.4 detects initial incident laser in the orientation of horizontal plane.
Certainly, in practical application, to adapt to different usage scenario, may be designed as reflecting mirror to beam splitter vertical range
Adjustable structure is achieved in the azimuthal measurement of the two-way laser beam to different height difference.
It can be seen that the position-measurement device based on PSD position sensor provided through the invention, by simply tying
Structure cleverly realizes azimuthal measurement of the PSD sensor of same position to two-way different height incident laser, to improve
Measurement accuracy.
During instrument is set up, measuring unit 3 is leveled, it is ensured that the laser 3.2 and simple component magnetic flux of measuring unit 3
Gate probe 3.3 is in horizontal checkout face；Meanwhile the laser facula height issued according to laser 3.2 after leveling, adjust marker
The window height of position sensor 4 keeps the two contour；
Step 2, initial registration mark object location sensor process, comprising:
Step 2.1, make the parallel arrangement of laser 3.2 in the top of simple component fluxgate magnetic core 3.3；
Step 2.2, master controller opens laser 3.2, meanwhile, master controller controls level without magnetic rotation unit
System, so that laser 3.2 be made to rotate in horizontal space, the horizontal laser light that laser 3.2 is launched approaches marker position sensing
The induction window of device, it may be assumed that approach the induction window of PSD position sensor 4.4；
Step 2.3, master controller continues controlled level without magnetic rotation unit rotational, and the laser warp for launching laser
After the transmission effect of beam splitter 4.2, the induction window edge of glancing incidence to PSD position sensor 4.4, so that data be made to acquire
Device collects induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in the position PSD
The different location of sensor sensing window corresponds to different induced voltages, when data collector collects specified induced voltage,
I.e. expression level has rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level stops without magnetic rotation unit
Rotation, and the refined orientation angle of simple component fluxgate magnetic core 3.3 at this time is obtained, in embodiment, pass through the 1st laser readings head
2.5 can be obtained the angle, be denoted as N1, thus complete to mark direct position of telescope；
Step 2.4, then, master controller without magnetic rotation unit to vertically controlling, so that measuring unit 3 be driven to hang down
Straight 180 ° of Space Rotating makes the parallel arrangement of laser 3.2 in the lower section of simple component fluxgate magnetic core 3.3, then locks vertical nothing
Magnetic rotation unit；
Step 2.5, then, master controller again controls level without magnetic rotation unit, to make level without magnetic rotation
The horizontal laser light for turning unit rotational, and launching laser 3.2 passes through the upward reflex of reflecting mirror 4.3, using beam splitting
After the reflex of mirror 4.2, it is incident on the induction window edge of PSD position sensor 4.4, so that data collector be made to collect
Induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in PSD position sensor sense
It answers the different location of window to correspond to different induced voltages, when data collector collects specified induced voltage, that is, indicates water
It is flat to have rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level stops operating without magnetic rotation unit, master control
Device processed obtains the refined orientation angle of simple component fluxgate magnetic core 3.3 at this time, obtains the angle especially by the 1st laser readings head 2.5
Degree, is denoted as N2, thus complete to mark anti-mirror measurement；
Step 2.6, master controller is by N1And N2It averages, obtains mark reading N；
Due to machining the presence with rigging error, can be deposited between the laser axis and horizontal axis of automatic fluxgate theodolite
In the non-orthogonal angle μ of a very little.The laser applications that laser issues are to calculate geographic north in water by sighting target object
Reading on flat code-disc.If only with registration mark object of telescope direct or reversing face, due to the presence of non-orthogonal angle μ, certainly
The mark angle that dynamic fluxgate theodolite obtains can introduce error.But if the method for using change face measurement, due to telescope direct
Positive error and negative error are brought respectively with reversing face, and reading is added and takes mean value twice, and positive negative error can be offset, that is to say, that this is not
Intercept μ bring error can effectively cancel out.
Step 3, the step of measuring geomagnetic declination D, comprising:
Step 3.1, master controller closes laser 3.2, simple component fluxgate magnetic core 3.3 is opened, at this point, laser 3.2
It is arranged in parallel in the lower section of simple component fluxgate magnetic core 3.3；
Step 3.2, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal that fluxgate magnetic core 3.3 exports is 0, and when reaching 0, master controller obtains 0 value earth magnetism of external magnetic field
The angle value D of the first measurement position of drift angle1, in the accompanying drawings, which is obtained by the 1st laser readings head 2.5；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal that fluxgate magnetic core 3.3 exports is 0, and when reaching 0, master controller obtains 0 value earth magnetism of external magnetic field
The angle value D of the second measurement position of drift angle2；In the accompanying drawings, which is obtained by the 1st laser readings head 2.5；
Step 3.3, then, master controller without magnetic rotation unit to vertically controlling, so that measuring unit 3 be driven to hang down
Straight 180 ° of Space Rotating makes the parallel arrangement of laser 3.2 in the top of simple component fluxgate magnetic core 3.3, then locks vertical nothing
Magnetic rotation unit；
Step 3.4, then, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge list
Whether the external magnetic field strength signal that Component of magnetic flux gate probe 3.3 exports is 0, and when reaching 0, master controller obtains 0 value of external magnetic field
The angle value D of geomagnetic declination third measurement position3；In the accompanying drawings, which is obtained by the 1st laser readings head 2.5；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal that fluxgate magnetic core 3.3 exports is 0, and when reaching 0, master controller obtains 0 value earth magnetism of external magnetic field
The angle value D of the 4th measurement position of drift angle4；In the accompanying drawings, which is obtained by the 1st laser readings head 2.5；
Step 3.5, the angle value D of the first measurement position of geomagnetic declination1, the second measurement position of geomagnetic declination angle value D2、
The angle value D of geomagnetic declination third measurement position3With the angle value D of the 4th measurement position of geomagnetic declination4It averages, as earth magnetism
North reading D0；
Practical declination D is calculated according to following formula:
Practical declination D=magnetic north reads D0Geographic north reads D to reading=magnetic north0(mark reading N- mark
Azimuth)；
Wherein, mark azimuth is measured in advance by Geomagnetic Station obtains, as using measurement point as the center of circle, geographic north and mark
The angle of object.
With reference to Fig. 1, magnetic north reads D0Be referenced as automatic fluxgate theodolite instrument zero, as figure ∠ A2 shown in；
Mark reading N's is referenced as automatic fluxgate theodolite instrument zero, as shown in figure ∠ A1, the one of the theta alignment
Cause property, is used primarily to ensure whether instrument is subjected to displacement in multiple measurement process or placement process；
Practical declination D is referenced as geographic north, as shown in figure ∠ A4.
It further include step 4, the measuring process of geomagnetic inclination I, specifically:
Step 4.1, the parallel arrangement of laser 3.2 is in the top of simple component fluxgate magnetic core 3.3, master controller controlled level
No magnetic rotation unit, which is rotated to magnetic north, reads D0Position；At this point, simple component fluxgate magnetic core 3.3 is located in magnetic meridian plate；
Then, locking level is no longer rotated without magnetic rotation unit；Master controller to vertically being controlled without magnetic rotation unit,
To drive laser 3.2 and simple component fluxgate magnetic core 3.3 to rotate synchronously in magnetic meridian plate；Meanwhile master controller is real-time
Judge whether the external magnetic field strength signal that simple component fluxgate magnetic core 3.3 measures is 0, and when reaching 0, master controller obtains outer magnetic
The angle value I of 0 the first measurement position of value geomagnetic inclination of field1；In the accompanying drawings, which is obtained by the 2nd laser readings head；
Then, master controller continue control vertically rotated round about without magnetic rotation unit, when fluxgate magnetic core again
Measure external magnetic field strength signal be 0 when, master controller obtains the angle value I of 0 the second measurement position of value geomagnetic inclination of external magnetic field2；
In the accompanying drawings, which is obtained by the 2nd laser readings head；
Step 4.2, next, master controller controlled level is rotated without magnetic rotation unit, and D is stopped at0+ 180 ° of position or
D0The position of -180 ° of position；
Then, locking level is no longer rotated without magnetic rotation unit；
Master controller without magnetic rotation unit to vertically controlling, so that laser 3.2 and simple component fluxgate be driven to visit
First 3.3 rotate synchronously in magnetic meridian plate；Meanwhile the outer magnetic that master controller real-time judge simple component fluxgate magnetic core 3.3 measures
Whether field intensity signal is 0, and when reaching 0, master controller obtains the angle value of 0 value geomagnetic inclination third measurement position of external magnetic field
I3；In the accompanying drawings, which is obtained by the 2nd laser readings head；
Step 4.3, master controller continues to control and vertically rotate round about without magnetic rotation unit, when simple component fluxgate
Probe 3.3 measure again external magnetic field strength signal be 0 when, master controller obtains the 4th measurement position of 0 value geomagnetic inclination of external magnetic field
Angle value I4；In the accompanying drawings, which is obtained by the 2nd laser readings head；
Step 4.4, inclination obliquity I is obtained based on following formula:
Inclination obliquity I=(I1+I2-I3-I4)/4。
It can be seen that provided by the present invention for absolute geomagnetic observation automatized magnetic open gate theodolite have it is following excellent
Point:
(1) by the way of laser alignment marker, it can effectively ensure that the accuracy of registration mark object, to guarantee absolute
Magnetic survey precision；
(2) using two dimension without magnetic rotation rotation mechanism as the driving movement mechanism of fluxgate magnetic core, can automatic, high precision realize it is single
The horizontal rotation of Component of magnetic flux gate probe and vertical rotary finally guarantee absolute magnetic survey precision；
(3) it during absolute magnetic survey, is cleverly realized to two-way not using the same marker position sensor
With the azimuthal measurement of height incident laser, so that measurement error when reducing change face registration mark object, improves earth's magnetic field and surveys
Accuracy of measurement.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (2)
1. a kind of absolute earth magnetism observation method of high-precision automatic, which comprises the following steps:
Step 1, in point layout, utterly magnetism measuring mechanism, the utterly magnetism measuring mechanism include supporting mechanism (1), two dimension
Without magnetic rotation rotation mechanism (2) and measuring unit (3)；Wherein, the two dimension is set to the supporting mechanism without magnetic rotation rotation mechanism (2)
(1) in；The two dimension includes level without magnetic rotation unit and vertically without magnetic rotation unit without magnetic rotation rotation mechanism (2)；It is described vertical
No magnetic rotation unit be set to it is described level without magnetic rotation unit above；The measuring unit (3) is set to described vertically without magnetic
Above rotary unit, comprising: parallel bracket (3.1), laser (3.2) and simple component fluxgate magnetic core (3.3)；The parallel branch
The laser (3.2) is installed in one end in the upper and lower ends of frame (3.1), and the other end installs the simple component fluxgate magnetic core
(3.3)；The laser (3.2) and the simple component fluxgate magnetic core (3.3) are arranged in parallel；
It is described vertically without magnetic rotation unit to be used to that the measuring unit (3) to be made to rotate in vertical space and automatically record rotation angle
Angle value；The level is without magnetic rotation unit for rotating the measuring unit (3) in horizontal space and automatically recording rotation
Angle value；Wherein, described vertically to respectively include without magnetic rotation unit and the level without magnetic rotation unit for realizing no magnetic rotation
The piezoelectric motor turned and the laser readings head for reading rotation angle；
In selected location arrangements marker position sensor (4)；Also, the marker position sensor is a kind of realizes together
One PSD sensor carries out the sensor of azimuthal measurement to two-way different height incident laser, comprising: outer housing (4.1), beam splitting
Mirror (4.2), reflecting mirror (4.3) and PSD position sensor (4.4)；
The inside of the outer housing (4.1) is fixed in beam splitter (4.2) inclination；Transmitted light in the beam splitter (4.2)
On the road, the PSD position sensor (4.4) is fixedly mounted；The reflecting mirror (4.3) be located at the beam splitter (4.2) just under
Side, the light splitting surface of the reflecting surface and the beam splitter (4.2) of the reflecting mirror (4.3) are arranged in parallel；
The vertical range and laser (3.2) of the reflecting mirror (4.3) to beam splitter (4.2) arrive simple component fluxgate magnetic core
(3.3) vertical range is identical；
During instrument is set up, measuring unit (3) are leveled, it is ensured that the laser (3.2) and simple component magnetic of measuring unit (3)
Open gate probe (3.3) is in horizontal checkout face；Meanwhile the laser facula height issued according to laser after leveling (3.2), adjustment
The window height of the marker position sensor (4) keeps the two contour；
Step 2, initial registration mark object location sensor process, comprising:
Step 2.1, make laser (3.2) parallel arrangement in the top of simple component fluxgate magnetic core (3.3)；
Step 2.2, master controller opens laser (3.2), meanwhile, master controller controls level without magnetic rotation unit,
To make laser (3.2) rotate in horizontal space, the horizontal laser light that laser (3.2) is launched approaches marker position sensing
The induction window of device, it may be assumed that approach the induction window of PSD position sensor (4.4)；
Step 2.3, master controller continues controlled level without magnetic rotation unit rotational, and the laser for launching laser is through beam splitting
After the transmission effect of mirror (4.2), the induction window edge of glancing incidence to PSD position sensor (4.4), so that data be made to acquire
Device collects induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in the position PSD
The different location of sensor sensing window corresponds to different induced voltages, when data collector collects specified induced voltage,
I.e. expression level has rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level stops without magnetic rotation unit
Rotation, and the refined orientation angle of simple component fluxgate magnetic core (3.3) at this time is obtained, it is denoted as N1, thus complete to mark direct position of telescope；
Step 2.4, then, master controller without magnetic rotation unit to vertically controlling, to drive measuring unit (3) vertical
180 ° of Space Rotating, make laser (3.2) parallel arrangement in the lower section of simple component fluxgate magnetic core (3.3), then locks vertical
Without magnetic rotation unit；
Step 2.5, then, master controller again controls level without magnetic rotation unit, to make level without magnetic rotation list
Member rotation, and the horizontal laser light for launching laser (3.2) passes through reflecting mirror (4.3) upward reflex, using beam splitting
After the reflex of mirror (4.2), it is incident on the induction window edge of PSD position sensor (4.4), so that data collector be made to adopt
Collect induced voltage；Then, master controller controlled level continues to rotate without magnetic rotation unit；Since laser is in PSD position sensing
The different location of device induction window corresponds to different induced voltages, when data collector collects specified induced voltage, i.e. table
Show that level has rotated to specified orientation without magnetic rotation unit, at this point, master controller controlled level stops operating without magnetic rotation unit,
Master controller obtains the refined orientation angle of simple component fluxgate magnetic core (3.3) at this time, is denoted as N2, thus complete to survey the anti-mirror of mark
Amount；
Step 2.6, master controller is by N1And N2It averages, obtains mark reading N；
Step 3, the step of measuring geomagnetic declination D, comprising:
Step 3.1, master controller closes laser (3.2), opens simple component fluxgate magnetic core (3.3), at this point, laser
(3.2) parallel arrangement is in the lower section of simple component fluxgate magnetic core (3.3)；
Step 3.2, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge simple component magnetic flux
Whether the external magnetic field strength signal of gate probe (3.3) output is 0, when reaching 0, master controller with obtaining 0 value of external magnetic field magnetic biasing
The angle value D of the first measurement position of angle1；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component magnetic flux
Whether the external magnetic field strength signal of gate probe (3.3) output is 0, when reaching 0, master controller with obtaining 0 value of external magnetic field magnetic biasing
The angle value D of the second measurement position of angle2；
Step 3.3, then, master controller without magnetic rotation unit to vertically controlling, to drive measuring unit (3) vertical
180 ° of Space Rotating, make laser (3.2) parallel arrangement in the top of simple component fluxgate magnetic core (3.3), then locks vertical
Without magnetic rotation unit；
Step 3.4, then, master controller controlled level is without magnetic rotation unit rotational, meanwhile, master controller real-time judge simple component
Whether the external magnetic field strength signal of fluxgate magnetic core (3.3) output is 0, and when reaching 0, master controller is with obtaining 0 value of external magnetic field
The angle value D of magnetic declination third measurement position3；
Then, master controller controlled level is rotated backward without magnetic rotation unit, meanwhile, master controller real-time judge simple component magnetic flux
Whether the external magnetic field strength signal of gate probe (3.3) output is 0, when reaching 0, master controller with obtaining 0 value of external magnetic field magnetic biasing
The angle value D of the 4th measurement position of angle4；
Step 3.5, the angle value D of the first measurement position of geomagnetic declination1, the second measurement position of geomagnetic declination angle value D2, earth magnetism
The angle value D of drift angle third measurement position3With the angle value D of the 4th measurement position of geomagnetic declination4It averages, as magnetic north is read
Number D0；
Practical declination D is calculated according to following formula:
Practical declination D=magnetic north reads D0Geographic north reads D to reading=magnetic north0(mark reading N- indicates orientation
Angle)；
Wherein, mark azimuth is measured in advance by Geomagnetic Station and obtains, as using measurement point as the center of circle, geographic north and marker
Angle.
2. the absolute earth magnetism observation method of high-precision automatic according to claim 1, which is characterized in that it further include step 4,
The measuring process of geomagnetic inclination I, specifically:
Step 4.1, laser (3.2) parallel arrangement is in the top of simple component fluxgate magnetic core (3.3), master controller controlled level
No magnetic rotation unit, which is rotated to magnetic north, reads D0Position；At this point, simple component fluxgate magnetic core (3.3) is located in magnetic meridian plate；
Then, locking level is no longer rotated without magnetic rotation unit；Master controller to vertically being controlled without magnetic rotation unit, thus
Laser (3.2) and simple component fluxgate magnetic core (3.3) are driven to rotate synchronously in magnetic meridian plate；Meanwhile master controller is real-time
Judge whether the external magnetic field strength signal that simple component fluxgate magnetic core (3.3) measures is 0, when reaching 0, master controller obtains outer
The angle value I of 0 the first measurement position of value geomagnetic inclination of magnetic field1；
Then, master controller continues to control and vertically rotate round about without magnetic rotation unit, when fluxgate magnetic core measures again
When external magnetic field strength signal is 0, master controller obtains the angle value I of 0 the second measurement position of value geomagnetic inclination of external magnetic field2；
Step 4.2, next, master controller controlled level is rotated without magnetic rotation unit, and D is stopped at0+ 180 ° of position or D0Position
Set -180 ° of position；
Then, locking level is no longer rotated without magnetic rotation unit；
Master controller without magnetic rotation unit to vertically controlling, to drive laser (3.2) and simple component fluxgate magnetic core
(3.3) it is rotated synchronously in magnetic meridian plate；Meanwhile master controller real-time judge simple component fluxgate magnetic core (3.3) measure it is outer
Whether magnetic field intensity signal is 0, and when reaching 0, master controller obtains the angle of 0 value geomagnetic inclination third measurement position of external magnetic field
Value I3；
Step 4.3, master controller continues to control and vertically rotate round about without magnetic rotation unit, when simple component fluxgate magnetic core
(3.3) measure again external magnetic field strength signal be 0 when, master controller obtains the 4th measurement position of 0 value geomagnetic inclination of external magnetic field
Angle value I4；
Step 4.4, inclination obliquity I is obtained based on following formula:
Inclination obliquity I=(I1+I2-I3-I4)/4。
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| CN111678536B (en) * | 2020-05-08 | 2021-12-10 | 中国人民解放军空军工程大学 | Calibration method for calibrating magnetic declination of ground observation whistle and angle measurement system error of observation and aiming equipment |
| CN113419230A (en) * | 2021-07-09 | 2021-09-21 | 武汉珞珈伊云光电技术有限公司 | Laser scanning mainboard, laser scanner, unmanned aerial vehicle and unmanned aerial vehicle control method |
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| CN2914033Y (en) * | 2006-07-11 | 2007-06-20 | 余祖荫 | Gyro-theodolite |
| EP2482034A4 (en) * | 2009-09-26 | 2014-03-19 | Alps Electric Co Ltd | Geomagnetism sensing device |
| CN102506898B (en) * | 2011-11-03 | 2014-05-07 | 中国科学院自动化研究所 | Genetic algorithm-based calibration method for inertial/geomagnetic sensors |
| CN202995052U (en) * | 2012-06-05 | 2013-06-12 | 郑州晶微电子科技有限公司 | Instrument for measuring geomagnetic declination and inclination |
| CN103389517A (en) * | 2013-07-30 | 2013-11-13 | 高建东 | High-accuracy geomagnetic vector measurement method and device |
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