CN107450109A - Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device - Google Patents
Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device Download PDFInfo
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- CN107450109A CN107450109A CN201710491480.XA CN201710491480A CN107450109A CN 107450109 A CN107450109 A CN 107450109A CN 201710491480 A CN201710491480 A CN 201710491480A CN 107450109 A CN107450109 A CN 107450109A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
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Abstract
The invention discloses a kind of air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device, it is related to air-ground electromagnetic method experimental provision technical field.By being that module 2, power module 3 and the part of host computer 4 four occurs by peripheral hardware drive module 1, synchronous clock pulse to form, major function includes device：The MEMS sensor module for obtaining attitude of carrier information is driven by STM32 controllers and attitude data is resolved, and is sequentially output acceleration, angular speed and the angle information of the axle of x, y, z three relative to initial position；To the stable constant-temperature crystal oscillator frequency multiplication of rate-adaptive pacemaker and divided using fpga chip simultaneously, by pps pulse per second signal caused by the GPS module of CW25 TIM models, synchronously triggering produces stable clock pulses.By test, 0.1 °, clock synchronization accuracy 1ms of present apparatus attitude measurement accuracy, attitude data output frequency 100Hz.By means of the system and device, can complete to work to real-time and synchronous with the Electro-magnetic Launcher System attitude measurement of receiving coil in air-ground electromagnetic surveying.
Description
Technical field
The present invention relates to air-ground electromagnetic method experimental provision technical field, more particularly to a kind of air-ground electromagnetic surveying coil is three-dimensional
Posture method for synchronously measuring and device.
Background technology
The attitude measurement system claimed apparatus of moving coil can obtain the fortune synchronous with the time of transmitter section in real time
The attitude informations such as 3-axis acceleration, angular speed and the angle of moving winding, and substantial amounts of data can be deposited without distortions
Storage.Frequency domain airborne electromagnetic system coil attitudes vibration influences and correction is the very strong work of an exploration, and the current country is still
It can be followed without mature experience.The detection of air-ground frequency domain electromagnetic is a kind of in ground launch multifrequency Pseudo-random Current, receives z side in the air
To magnetic field signal amplitude and phase, the electromagnetic surveying side of change in resistance is determined by contrasting the exception of relatively uniform the earth
Method.The system is blended using unmanned plane with magnetotelluric sounding system breakthroughly, low, safe using unmanned plane during flying cost
Property it is high, flying condition scope is wide the advantages that, the big machineries such as plateau, lake, forest zone, mountain region, mining area, Large Scale Space Vehicle are difficult to
Deep area expansion electromagnetic surveying.
Air-ground electromagnetic exploration method uses supply vehicle ground launch, hangs the working method reality for carrying reception system unmanned vehicle
Now underground dielectric structure is detected.Because the signal that the vibration noise and electromagnetic interference of gyroplane to be avoided receive to coil produces
Influence, it is necessary to will be flexible coupling between receiving coil and aircraft with the nylon rope of a 8-10 rice.This allows for unmanned plane
Because the external interferences such as the change of wind direction, the adjustment of aircraft flight posture can make work of the coil in reality in flight course
In measured magnetic field be not entirely from desired tested direction, but be doped with the interference magnetic field in other directions, logarithm
Impacted according to analysis work.Obtain that sample rate is higher, makes an uproar it is therefore proposed that being measured to the posture of airborne magnetic measuring coil
Sound is smaller, synchronizing quality preferably coil attitude information.
Common GPS adds the composite module of inertia measurement device to accomplish that 10Hz posture incidentally corresponds to the time on the market
Storage, this device can carry out effective qualitative analysis for the observation of in general posture, and cost is relatively low, is easy to make
With, but so much can not meet in air-ground electromagnetic surveying experiment to the demand of measurement.Because project requirement of experiment is to all kinds of
Type noise is done to assess and eliminate, it is necessary to which the data measured by instrument meet net synchronization capability is good, noise pressing result is obvious etc.
Condition, therefore coil attitude measuring will not only meet the requirement that noise is low, net synchronization capability is excellent, also by volume, quality, continue
The norm controllings such as boat ability are focused on caused by between electromagnetism reception system in the range of experimental data measurement is not influenceed
Electromagnetic interference.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of air-ground electromagnetic surveying coil 3 d pose synchro measure side
Method and device, there is provided a kind of precision height, the coil that can be synchronised with Electro-magnetic Launcher System clock and preserve measurement data record
Attitude measurement system.
To achieve the above object, the present invention provides following technical scheme：The air-ground electromagnetic surveying coil 3 d pose is same
Step measurement apparatus occurs module, power module and the part of host computer four by peripheral hardware drive module, synchronous clock pulse and formed, power supply
Module provides stable power supply to system, peripheral hardware drive module by STM32 series master controller connect three-axis attitude sensing module,
Data memory module, display panel module, film key input module composition, synchronous clock pulse occur module and connected by fpga chip
Constant-temperature crystal oscillator, D/A conversion unit (DA), GPS module composition are connect, wherein fpga chip is internally integrated phase locked-loop unit, counter
Unit, divider unit, flip-flop element and PD control device unit, peripheral hardware drive module and clock pulses generation module pass through outer
The mode that portion is interrupted cooperates, by the attitude information real-time synchronization of coil by the file record of TXT forms into SD card,
The TXT file datas in SD card are read comprising attitudes vibration real time demonstration software in host computer, and it is real in a manner of patterned
When show coil three-axis attitude change.
Preferably, the three-axis attitude sensing module (1-2-2) is by MPU6050 sensor chips, HMC5883L chipsets
Into wherein MPU6050 chips output three-dimensional acceleration information, HMC5883L export three-dimensional magnetic field information, STM32 series main controls
Device drives MPU6050 and HMC5883L chips, while reads the output information of two chips by iic bus and carry out posture to it
Resolve；The attitude algorithm includes Quaternion Method, Kalman filtering algorithm, can be by the output of MPU6050 and HMC5883L chips
Data change into 3 d pose information by mathematical operation.
Preferably, the measurement apparatus can be synchronous with air-ground Electromagnetic Launching reception system by GPS, synchronous clock pulse hair
The fpga chip that raw module makees master clock by constant-temperature crystal oscillator obtains GPS lock-out pulse, and lock-out pulse is converted into STM32
The external interrupt signal of serial master controller, STM32 series master controller are believed by the synchronous output 3 d pose of external interrupt
Cease in SD card.
The air-ground electromagnetic surveying coil 3 d pose synchronous measuring apparatus works with step in the following order：
A Installation postures measuring system pays attention to the direction face by the axle of x, y, z three of device by survey line on by test coil
Normed space rectangular coordinate system x (along coil heading), the direction of principal axis of y, z tri- of circle；
The plug of lithium battery is inserted in measurement apparatus by B, and system electrification, power module works immediately, peripheral hardware drive module
Peripheral hardware is initialized.Clock signal occurs constant-temperature crystal oscillator in module and starts to preheat, and produces clock pulses, immediately PD control device
Crystal oscillator input voltage is corrected, clock pulses is tended towards stability；
C selects " modular calibration " option in initial interface, multi-direction, all-direction rotation instrument, turns at this moment sensor meeting
The magnetic field data of automatic data collection all directions, and oval correction calculation processing is done, sensor is applied to current magnetic field environment, improve
Measurement accuracy；
Pressed after the completion of D. calibrating " it is determined that " button, and " starting to gather " option is chosen, when now display screen can be altered to
Between display interface, treat that whole minute arrives, you can start to gather；
E. after the completion of gathering, by lithium battery power-off can surplus storage beam collection, the data collected preserve in SD card
For with start acquisition time name file in, form for " when the m- three axis angular rates-shaft angle of 3-axis acceleration-three Du-height
Journey "；
F. SD flash cards are extracted, inserting on computers can read the attitude data of storage；
G. the multi collect in same geographic area can omit C process and directly be acquired.
Beneficial effect using above technical scheme is：The air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and
Device is that the air-ground electromagnetic exploration method of frequency domain is improved, and is to be directed to the receiving coil when air-ground electromagnetic survey is tested
The signal of reflection in receivers analyzes the instrument of reason and quantization error when occurring abnormal.The use of device can be eliminated because of line
Caused error after circle posture is undergone mutation, make the more efficient actual geologic structure of reaction of later data processing work.For
The observation of in general posture can carry out effective qualitative analysis, and cost is relatively low, easy to use.
Brief description of the drawings
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the module principle figure of air-ground electromagnetic surveying coil 3 d pose synchronous measuring apparatus；
Fig. 2 is the attitude measurement system peripheral hardware drive module structured flowchart of moving coil；
Fig. 3 is that modular structure block diagram occurs for the attitude measurement system clock signal of moving coil；
The 3 d pose method for synchronously measuring stream control routine flow chart of the air-ground electromagnetic surveying coils of Fig. 4.
Embodiment
The invention will now be described in detail with reference to the accompanying drawings air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device
Preferred embodiment.
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 show the air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring of the present invention and device
Embodiment：
The coil attitude measuring, it is by peripheral hardware drive module 1, synchronised clock arteries and veins with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4
Punching occurs module 2, power module 3 and host computer 4 and formed.
Device can be applied in the field of air-ground, aviation electromagnetic detection, can be with by the coil attitude information of measurement device
It is synchronous in time with actual electromagnetic emission system, reception system with by GPS, it will can receive in later data handles work
The magnetic field data that system measures is combined with coil attitude information, corrects the deviation of data, assistance data inverting work.
Power module 3 provides the voltage of the different amplitudes such as stable 5v, 3.3v, 1.2v to system.Peripheral hardware drive module 1 is
By three-axis attitude sensing module 1-2, data memory module 1-3, display panel module 1-4, film key input module 1-5 with
Module 2 occurs for STM32 series master controller 1-1 connections, synchronous clock pulse by constant-temperature crystal oscillator 2-2, digital-to-analogue (DA) converting unit
2-3, GPS module 2-4 are connected with fpga chip 2-1, and phase locked-loop unit 2-1-1, counter unit 2- are included in fpga chip 2-1
1-2, divider unit 2-1-3, flip-flop element 2-1-4 and PD control device unit 2-1-5.Two systems cooperate, by line
It is recorded by SD card 1-3-2 in TXT formatted files the attitude information real-time synchronization of circle.Host computer 4 is to be based on Visual
Studio software program, the TXT file datas in SD card 1-3-2 are read, and computer is shown in a manner of patterned
On screen.
The attitude data that the attitude data that 3 d pose measurement module measures exports set form by iic bus arrives
In STM32 master controllers 1-1；The synchronised clock occurs module and inputted by pulse signal to STM321-1 master controllers；Institute
It is data memory module 1-3 by serial ports by " when m- geography information-posture " after various data encodings to state TXT file formats
Data.
The peripheral hardware drive module of three-axis attitude measurement integration module is formed a main control by core of three pieces of STM32 chips
Device STM32 controllers 1-1, the control structure of two submaster controllers (STM32 controller 1-2-1, STM32 controller 1-3-1).Its
The sensor 1-2-2 of MEMS technology is used in middle attitude measurement module：MPU6050 models gyroscope and HMC5883L model electronics
Compass.Submaster controller 1-2-1 reads sensor combinations 1-2-2 data by iic bus agreement, and by attitude data in the chips
Attitude algorithm is carried out, and data are sequentially output after integration according to the order of the angle of pitch, yaw angle, roll angle, by master controller
Attitude angle data is received by iic bus.There is filesystem conversion program in submaster controller 1-3-1, master controller passes through
Serial port protocol by after the marshalling of the attitude data of the gps time data after fusion, posture sensing module with TXT stored in file format extremely
In SD flash cards 1-3-2.
Attitude algorithm processing includes Quaternion Method, Kalman filtering algorithm, and the data of each road sensor are transported by mathematics
Calculation changes into attitude data stable, accurate, that error is small.
Lock-out pulse occurs system and provides position, elevation information and pulse per second (PPS) letter by the GPS module 2-4 of CW25-TIM models
Number, using pps pulse per second signal as synchronous triggering signal, constant-temperature crystal oscillator is as original clock signal, using CycloneII series
Signal is synchronized fpga chip 2-1 and frequency multiplication, scaling down processing, when producing being captured by single-chip microcomputer, fixed frequency
Clock signal, while communicated by serial port protocol and STM32 main control 1-1 devices, the information such as outgoing position, elevation, time.
The groundwork of STM32 Series Controllers is by SDIO protocol-driven SD flash card 1-3-2, and with serial mode
Receive master controller 1-1 attitude data, the Program Generating .txt texts that data pass through file system in STM32 controllers 1-3-1
Part form simultaneously stores.
Display module is that Nokia5110 single color LCDs screen and LED light source are formed.
Power module (3) by 11.7v 3s model plane lithium battery power supplies, Voltage stabilizing module be MORNSUN 9-12v turn 5v output
DC-DC module, for the modules such as constant-temperature crystal oscillator, GPS, SD card use, exported again after 5v power supply voltage stabilizings to AMS1117-3.3v,
The power circuit that the chips such as AMS1117-1.2v are formed, electricity stable, that ripple is small is provided for chips such as STM32, FPGA, AD5321
Source.
For the attitude measurement system of moving coil application method the step of it is as follows：
A. Installation posture measuring system pays attention to the direction face of the axle of x, y, z three of device being tested on by test coil
The standard (x front-rights) of coil, y (front), the direction of principal axis of z (surface) three, and be fixed on nylon cable tie on coil, make it
Fixing-stable, do not produce and rock；
B. the plug of lithium battery is inserted in measurement apparatus, system electrification, power module works immediately, peripheral hardware drive module
1 pair of peripheral hardware initializes.The 50MHz constant-temperature crystal oscillators 2-2 that high stability in module 2 occurs for clock signal starts to preheat, and produces
Raw clock pulses, and the crystal oscillator can be by controlling the input voltage of pin to control the concussion frequency of crystal inside.Clock signal
Module occurs by the fpga chip 2-1 of CycloneII EP2C5T144N models as control core, constant-temperature crystal oscillator 2-2, DA to be turned
Change core 2-3 pieces and form a closed-loop control system with fpga chip 2-1.Phaselocked loop inside fpga chip 2-1 captures crystal oscillator
Clock and the signal by its 2 frequency multiplication into 100MHz, signal is again by the last clock signal stable to 100Hz of frequency divider.Together
Hour counter also shakes number between two continuous pulse per second (PPS)s in record GPS module caused by crystal oscillator reality, by measured value
Made the difference with desired 50MHz, so as to produce control deviation value.Deviation is produced by PD control device 2-1-5 and is directed to by AD5321
Serial DA conversion chips 2-3 control word, constant-temperature crystal oscillator 2-2 control electricity is obtained by DA microarray biochips 2-3 output pin
Pressure, realizes the closed-loop control of crystal oscillator frequency.Finally 100Hz clock signal is exported to master controller, to defeated to data
Go out to provide stable clock.
C. the screen in peripheral hardware drive module uses the single color LCD screen 1-4 of Nokia5110 models, by master controller 1-1
Pass through spi bus protocol-driven.The function of screen is to show the function choosing-item and working condition of attitude measurement system.Film key
1-5 is captured I/O port level value by the program in STM32 master controllers 1-1, is produced flag bit in software using pull-up connection
The function selection under different menu is realized in logical operation.Specific works state is：" posture instrument " function, bag are shown in start after electricity
Include roll angle, the angle of pitch, yaw angle and GPS status informations；Any button entered function selection main menu of unit, including two work(
" meter calibrating can be added ", " compass calibration " and " Posture acquisition ", by function " on " (film key 1-5-2), " under " (film key 1-
5-3) key can choose corresponding function, then press " carriage return " (film key 1-5-1) key and choose corresponding function.Into " add meter school
Behind standard " interface, screen display " front is down and keep level enter key confirms ", now by the accelerometer of this position in program
Value is considered as x-axis a reference value；After pressing enter key (film key 1-5-1), screen display " left side simultaneously keep level carriage return down
Key confirms ", the acceleration evaluation of this position is now considered as y-axis a reference value in program；Press enter key (film key 1-5-
1) screen display " accelerometer calibration success " afterwards, main interface is returned to after two seconds.By function " under " (film key 1-5-3) button
" compass calibration " option is chosen, presses enter key (film key 1-5-1) screen display " rotation attitude instrument in all directions afterwards
Terminate by carriage return ", magnetic compass now enters oval correcting state, manual multi-direction, all-direction rotation instrument, turns at this moment to sense
The magnetic field data of device meeting automatic data collection all directions, makes sensor be applied to current magnetic field environment, improves measurement accuracy.Press
Enter key (film key 1-5-1) screen display " compass compensation success ", now preserves a reference value of three-dimensional magnetic field, opens every time
Machine reads the value.Main menu is retracted automatically after two seconds.
D. press function " on " (film key 1-5-2), " under " (film key 1-5-3) key chooses " Posture acquisition " function,
Now there is the time showing in GPS module in screen display interface, after waiting whole minute to appear, is sent by the device of STM32 main controls 1
Start the signal of collection to fpga chip 1, the 100Hz of the generation of fpga chip 1 immediately clock trigger signal, when master controller captures
Can be by character string " Hour Minute Second x-axis acceleration y-axis acceleration z-axis acceleration x-axis speed y-axis speed z-axis speed roll to the signal
Whether angle angle of pitch yaw angle GPS locks elevation " stored with triggering the frequency of clock into SD flash cards 1-3-2.Now instrument
Continuous work, when collecting desired data volume, can realize end acquisition function, screen interface retracts main menu by any key
And prepare to gather next time, data are saved as to start in the text of acquisition time name；
F. SD flash cards 1-3-2 is extracted, inserting on computers can read the attitude data of storage；
G. the multi collect in same geographic area can omit C process and directly be acquired.
The above is only the preferred embodiment of the present invention, it is noted that for the person of ordinary skill of the art,
Without departing from the concept of the premise of the invention, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Claims (4)
1. a kind of air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device, it is characterised in that：Described air-ground electricity
By peripheral hardware drive module (1), synchronous clock pulse module (2), power supply occur for magnetic spy test coil 3 d pose synchronous measuring apparatus
Module (3) and the part of host computer (4) four composition, power module (3) provide stable power supply, peripheral hardware drive module (1) to system
By STM32 series master controller (1-1) connection three-axis attitude sensing module (1-2), data memory module (1-3), display screen mould
Block (1-4), film key input module (1-5) composition, synchronous clock pulse occur module (2) and connected by fpga chip (2-1)
Constant-temperature crystal oscillator (2-2), D/A conversion unit (DA) (2-3), GPS module (2-4) composition, wherein collect inside fpga chip (2-1)
Into phase locked-loop unit (2-1-1), counter unit (2-1-2), divider unit (2-1-3), flip-flop element (2-1-4) and PD
Controller unit (2-1-5), peripheral hardware drive module (1) and clock pulses occur module (2) and cooperateed with by way of external interrupt
Work, by the file record of TXT forms into SD card (1-3-2) by the attitude information real-time synchronization of coil, host computer (4)
In the TXT file datas in SD card (1-3-2) are read comprising attitudes vibration real time demonstration software, it is and real in a manner of patterned
When show coil three-axis attitude change.
2. air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring according to claim 1 and device, its feature exist
In：The three-axis attitude sensing module (1-2-2) is made up of MPU6050 sensor chips, HMC5883L chips, wherein
MPU6050 chips export three-dimensional acceleration information, HMC5883L output three-dimensional magnetic field information, the driving of STM32 series master controller
MPU6050 and HMC5883L chips, while the output information of two chips is read by iic bus and attitude algorithm is carried out to it；
The attitude algorithm includes Quaternion Method, Kalman filtering algorithm, can lead to the output data of MPU6050 and HMC5883L chips
Cross mathematical operation and change into 3 d pose information.
3. air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring according to claim 1 and device, its feature exist
In：The measurement apparatus can be synchronous with air-ground Electromagnetic Launching reception system by GPS, and synchronous clock pulse occurs module and passes through perseverance
The fpga chip that warm crystal oscillator makees master clock obtains GPS lock-out pulse, and lock-out pulse is converted into STM32 series master controllers
The external interrupt signal of (1-1), STM32 series master controller (1-1) pass through the synchronous output 3 d pose information of external interrupt
Into SD card (1-3-2).
4. air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring according to claim 1 and device, its feature exist
In：The air-ground electromagnetic surveying coil 3 d pose synchronous measuring apparatus works with step in the following order：
A Installation postures measuring system pays attention to the direction face by the axle of x, y, z three of device by test coil on by test coil
Normed space rectangular coordinate system x (along coil heading), the direction of principal axis of y, z tri-；
The plug of lithium battery is inserted in measurement apparatus by B, and system electrification, power module works immediately, and peripheral hardware drive module (1) is right
Peripheral hardware is initialized.Clock signal occurs constant-temperature crystal oscillator in module (2) and starts to preheat, and produces clock pulses, immediately PD control
Device (2-1-5) corrects crystal oscillator input voltage, clock pulses is tended towards stability；
C selects " modular calibration " option in initial interface, and multi-direction, all-direction rotation instrument, turning at this moment sensor can be automatic
The magnetic field data of all directions is gathered, and does oval correction calculation processing, sensor is applied to current magnetic field environment, improves measurement
Precision；
Pressed after the completion of D. calibrating " it is determined that " button, and " starting to gather " option is chosen, now display screen can be altered to the time and show
Show interface, treat that whole minute arrives, you can start to gather；
E. after the completion of gathering, by lithium battery power-off can surplus storage beam collection, the data collected are protected in the SD card (1-3-2)
Save as with start acquisition time name file in, form for " when the m- three axis angular rates-shaft angle of 3-axis acceleration-three Du-height
Journey "；
F. SD flash cards (1-3-2) are extracted, inserting on computers can read the attitude data of storage；
G. the multi collect in same geographic area can omit C process and directly be acquired.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710491480.XA CN107450109A (en) | 2017-06-16 | 2017-06-16 | Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710491480.XA CN107450109A (en) | 2017-06-16 | 2017-06-16 | Air-ground electromagnetic surveying coil 3 d pose method for synchronously measuring and device |
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| CN107450109A true CN107450109A (en) | 2017-12-08 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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