CN108120439A - A kind of three-component induction coil attitude measurement method and device - Google Patents
A kind of three-component induction coil attitude measurement method and device Download PDFInfo
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- 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
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Abstract
The present invention discloses a kind of three-component induction coil attitude measurement method and device, first, builds test environment, secondly reads the data of each attitude transducer；Again, complementary filter is carried out to the data that single attitude transducer obtains by low-pass filter and high-pass filter, obtains the attitude data of single attitude transducer；Finally, the attitude data of all attitude transducers is done into data fusion.The present invention carries out attitude measurement by adding in multiple sensors to three-component induction coil, by the data of measurement by data anastomosing algorithm, to draw the three-component induction coil attitude data of more accurate stable.
Description
Technical field
The present invention relates to aviation electromagnetic field, more particularly to a kind of three-component induction coil attitude measurement method and dress
It puts.
Background technology
Aeroelectromagnetic method common name aeroelectrical method (Airborne Electromagnetics, abbreviation AEM) be using aircraft as
Carrier, the geophysical prospecting method based on electromagnetic induction are widely used in hydrocarbon exploration, ore body prospecting and underground water generaI investigation etc.
Aspect.In flight course, transmitting magnetic moment electromagnetic wave is generated by the transmitting coil being centered around on airframe, excites big real estate
Raw secondary induction field, the secondary field data included by receiving gondola explain secondary field response, so as to obtain using Theory of Electromagnetic Field
Obtain the geological substance information of hundreds of meters of underground depth.This method is widely used in hydrocarbon exploration, ore body prospecting and underground water generaI investigation
Etc..According to airborne form, airborne electromagnetic system can be divided into fixed-wing airborne electromagnetic system and helicopter airborne electromagnetic system.
Compared with helicopter time domain aviation electromagnetic system, fixed-wing airborne electromagnetic system is in flight detection process, due to aircraft appearance
The factors such as state, speed, wind speed cause coil pitching, wave, yaw rotation and gondola swing, systematic parameter is caused to change
Become, seriously affect observation data consistency.
AEM is with speed is fast, at low cost, road ability is good, limiting, greatly from surface condition (Ru Hai, river, lake, desert)
Area work accuracy than it is more uniform, can be more next in physical prospecting field the orographic condition relatively difficult district work the advantages that
More it is taken seriously.External aeroelectromagnetic method passes through the development of over half a century, and instrument system has tended to be ripe, in metal ore
The fields such as generaI investigation, large area geologic mapping, hydrogeology, engineering geologic investigation and environmental monitoring achieve good application effect
Fruit, but domestic time-domain fixed-wing aeroelectromagnetic method instrument development lagging in development all the time, in the 1970s, long fields for spring sowing
The more units such as matter institute and Heilungkiang geology bureau have researched and developed first set Time-domain AEM system of China jointly
System --- M-1 inductive impulse transition aviation electromagnetic instrument, the instrument passed through national-level appraisal in 1977, for various reasons,
The system fails to put into always actual production, and the later stage is domestic never to carry out relevant instrument research work, it is domestic so far still
So without the time-domain fixed-wing aviation electromagnetic investigation system of a set of input actual production.
The field has researcher to complete the posture relation pair between transmitter, three-component induction coil and gondola at present
The influence of data is received, but this is only limited to theory deduction, and stable and accurate posture number can not be measured under the conditions of actual test
According to.Therefore how to measure the posture of three-component induction coil and the posture of gondola is a vital task, at present someone
It is proposed places attitude transducer to measure the posture of gondola and induction coil respectively on gondola and induction coil, but this method
In the presence of the inaccurate incomplete feature of measurement.
Therefore, it is necessary to propose a kind of new measurement method and add in sensor fusion algorithm can be stablized and accurate
True measurement data.
The content of the invention
The object of the present invention is to provide a kind of three-component induction coil attitude measurement method and device, by adding in multiple biographies
Sensor carries out three-component induction coil attitude measurement, more accurate to draw by the data of measurement by data anastomosing algorithm
Stable three-component induction coil attitude data.
To achieve the above object, the present invention provides following schemes：
A kind of three-component induction coil attitude measurement method, comprises the following steps：
(1) data of each attitude transducer are read：
Centered on three-component induction coil, k attitude transducers, right position etc. are equidistantly placed in front and back position respectively
K attitude transducer is placed at distance, k is the natural number more than or equal to 1, makes the straight line where the attitude transducer of front and back position
For X-axis, the roll angle of attitude transducer is measured, the straight line where making the attitude transducer of right position is Y-axis, and measurement posture passes
The pitch angle of sensor；The horizontal stroke that an attitude transducer is used to measure attitude transducer is placed at three-component induction coil center simultaneously
Roll angle and pitch angle；
(2) data of the acquisition of single attitude transducer are filtered by low-pass filter and high-pass filter；
(3) by filtered positioned at the data of the attitude transducer acquisition of position and the filter all around of three-component induction coil
The data that the attitude transducer at the three-component induction coil center after ripple obtains do data fusion；
Optionally, the data of the acquisition of single attitude transducer are filtered and specifically included：
The posture of attitude transducer is calculated according to accelerometer：
Navigation system under gravitational field be：gn=[0,0 ,-g]T, thereforeWherein abIt is the measurement of accelerometer
Value.Formula expands into：
The 3-axis acceleration measured by accelerometer can acquire the pitching angle theta of attitude transducer by the following formulaaWith
Roll angle φa
As cos (θaDuring) ≠ 0, pitch angle and roll angle can be obtained：
Wherein θaFor the pitch angle that accelerometer obtains, φaThe horizontal stroke obtained for accelerometer
Roll angle, axFor the acceleration of x-axis direction, ayFor the acceleration in y-axis direction, azFor the acceleration in z-axis direction；
The posture of attitude transducer is calculated according to gyroscope：Wherein θgFor the pitch angle that gyroscope obtains,
φgFor the roll angle that gyroscope obtains, ωyFor the angular speed in y-axis direction, ωxFor the angular speed of x-axis direction；
Attitude data obtained by accelerometer and gyroscope is done into complementary filter, formula is as follows：
θ=θaFθ1(s)+θgFθ2(s)
φ=φaFφ1(s)+φgFφ2(s)
Wherein θaAnd φaThe pitch angle and roll angle that accelerometer obtains, θ are represented respectivelygAnd φgRespectively gyroscope obtains
The pitch angle and roll angle arrived.Fθ1And Fθ2The respectively low pass and high-pass filter of pitch angle, Fφ1And Fφ2Respectively roll angle
Low pass and high-pass filter.
OrderThen
C (s) can be made as a constant l,
Above formula can be changed toUse single order backward-difference method, orderIt is substituted into
Formula is transformed into z domains from s domains, and wherein T is the sampling time.
Can obtain filtered pitch angle is：
θ (n)=α [θ (n-1)+T ωy(n)]+(1-α)θa(n), whereinL is constant；T is the sampling time；n
For time series, to be more than or equal to 1 natural number；ωyFor the angular speed in y-axis direction；θaThe pitch angle obtained for accelerometer；
According to above theory, similarly show that filtered roll angle is：
φ (n)=γ [φ (n-1)+T ωx(n)]+(1-γ)φa(n), whereinF is constant；T is sampling
Time；N is time series, to be more than or equal to 1 natural number, ωxFor the angular speed of x-axis direction, φaIt is obtained for accelerometer
Roll angle.
It optionally, will be positioned at the data and three-component of the attitude transducer acquisition of position all around of three-component induction coil
The data that the attitude transducer at induction coil center obtains do data fusion, are specially：
The pitch angle of three-component induction coil：Wherein α0To be located at the three-component
The weights of induction coil center attitude transducer, θmTo be located at the pitching obtained by the attitude transducer at three-component induction coil center
Angle, αiTo be located at the weights of the pitch angle obtained by each attitude transducer of the three-component induction coil or so, θiIt is described to be located at
Pitch angle obtained by each attitude transducer of three-component induction coil or so, k are the number of sensor；
The roll angle of three-component induction coil：Wherein β0To be located at the three-component sense
Answer the weights of the attitude transducer of hub of a spool, θmTo be located at the roll obtained by the attitude transducer at three-component induction coil center
Angle, βiThe weights of roll angle obtained by each attitude transducer for being located at before and after the three-component induction coil, φiTo be located at
The roll angle obtained by each attitude transducer before and after three-component induction coil is stated, k is the number of sensor.
Optionally, this method further includes, and test environment is built before the data of each attitude transducer are read.
The present invention also provides a kind of three-component induction coil attitude measuring, including：Sensor group, gondola, centre
Manage device, low-pass filter and high-pass filter.
Sensor group specifically includes 2k+1 attitude transducer, and k is the natural number more than or equal to 1,
Wherein k attitude transducer is located at the front and back position of the three-component induction coil respectively, for measuring described three
The roll angle of component induction coil, in addition k attitude transducer is located at the right position of the three-component induction coil, for surveying
The pitch angle of the three-component induction coil is measured, another attitude transducer is located at the three-component induction coil center, uses
In the roll angle and pitch angle that measure the three-component induction coil simultaneously；
Three-component induction coil is fixed on by 8 cotton ropes on gondola, and central processing unit is connected with sensor group, for reading
The data of the sensor group are taken, and the data of the sensor group of reading are calculated；The low-pass filter and the height
Bandpass filter is connected respectively with central processing unit, for the data obtained by sensor group to be filtered.
Optionally, the attitude transducer is MEMS attitude transducer, specifically includes accelerometer and gyroscope.
Optionally, the central processing unit includes, data fusion unit；The data fusion unit is used to be located at by described in
The corresponding weights of roll angle value obtained by attitude transducer before and after three-component induction coil are multiplied, are described positioned at three-component sense
Answer the corresponding weights multiplication of the pitching angle value obtained by the attitude transducer of coil or so and three-component induction coil center appearance
The corresponding weights multiplication of roll angle value that state sensor measures is multiplied with the corresponding weights of pitching angle value, finally by each biography
The attitude value and its product summation of weights that sensor acquires.
Optionally, the sensor group specifically includes 5 attitude transducers, respectively positioned at the center of three-component induction coil
Position and three-component induction coil are all around；Attitude transducer positioned at center is used to measure three-component induction coil
Roll angle and pitch angle, be used to measure the roll angle of three-component induction coil positioned at the attitude transducer of front and back position, be located at
The attitude transducer of the left and right sides is used to measure the pitch angle of three-component induction coil.
The specific embodiment provided according to the present invention, the invention discloses following technique effects：
The present invention carries out attitude measurement by adding in multiple sensors to three-component induction coil, and the data of measurement are passed through
Data anastomosing algorithm draw accuracy and stability higher and with the approximate coil attitude data of actual value, and then be supplied to follow-up
Flow calculates the distribution of mining site, overcomes in the prior art only with measurement caused by the posture of a sensor measuring coil
The problem of data are inaccurate.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is three-component induction coil attitude measurement method flow diagram of the embodiment of the present invention；
Fig. 2 is three-component induction coil attitude measuring structure chart of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
The object of the present invention is to provide a kind of three-component induction coil attitude measurement method and device, by adding in multiple biographies
Sensor carries out three-component induction coil attitude measurement, more accurate to draw by the data of measurement by data anastomosing algorithm
Stable three-component induction coil attitude data.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is three-component induction coil attitude measurement method flow diagram of the embodiment of the present invention, as shown in Figure 1 one kind three
Component induction coil attitude measurement method, comprises the following steps：
Step 101：Build test environment；
Step 102：Read the data of each attitude transducer：Centered on three-component induction coil, respectively in anteroposterior position
Placement location k attitude transducers, right position place k attitude transducer, and k is the natural number more than or equal to 1, makes front and back position
Straight line where attitude transducer is X-axis, measures the roll angle of three-component induction coil, makes the attitude transducer institute of right position
Straight line for Y-axis, measure the pitch angle of three-component induction coil；Simultaneously a posture is placed at three-component induction coil center
Sensor is used to measure the roll angle and pitch angle of three-component induction coil；
Step 103：The data of the acquisition of single attitude transducer are filtered by low-pass filter and high-pass filter
Ripple, it is specific as follows：
The posture of attitude transducer is calculated according to accelerometer：
Navigation system under gravitational field be：gn=[0,0 ,-g]T, thereforeWherein abIt is the measurement of accelerometer
Value.Formula expands into：
The 3-axis acceleration measured by accelerometer can acquire the pitching angle theta of attitude transducer by the following formulaaWith
Roll angle φa；
As cos (θaDuring) ≠ 0, pitch angle and roll angle can be obtained：
Wherein θaFor the pitch angle that accelerometer obtains, φaThe horizontal stroke obtained for accelerometer
Roll angle, axFor the acceleration of x-axis direction, ayFor the acceleration in y-axis direction, azFor the acceleration in z-axis direction；
The posture of attitude transducer is calculated according to gyroscope：Wherein θgFor the pitch angle that gyroscope obtains,
φgFor the roll angle that gyroscope obtains, ωyFor the angular speed in y-axis direction, ωxFor the angular speed of x-axis direction；
Attitude data obtained by accelerometer and gyroscope is done into complementary filter, formula is as follows：
θ=θaFθ1(s)+θgFθ2(s)
φ=φaFφ1(s)+φgFφ2(s)
Wherein θaAnd φaThe pitch angle and roll angle that accelerometer obtains, θ are represented respectivelygAnd φgRespectively gyroscope obtains
The pitch angle and roll angle arrived.Fθ1And Fθ2The respectively low pass and high-pass filter of pitch angle, Fφ1And Fφ2Respectively roll angle
Low pass and high-pass filter.
OrderThen
C (s) can be made as a constant l,
Above formula can be changed toUse single order backward-difference method, orderIt is substituted into
Formula is transformed into z domains from s domains, and wherein T is the sampling time.
Can obtain filtered pitch angle is：
θ (n)=α [θ (n-1)+T ωy(n)]+(1-α)θa(n), whereinL is constant；T is the sampling time；n
For time series, to be more than or equal to 1 natural number；ωyFor the angular speed in y-axis direction；θaThe pitch angle obtained for accelerometer；
According to above theory, similarly obtaining filtered roll angle is：
φ (n)=γ [φ (n-1)+T ωx(n)]+(1-γ)φa(n), whereinF is constant；T is sampling
Time；N is time series, to be more than or equal to 1 natural number, ωxFor the angular speed of x-axis direction, φaIt is obtained for accelerometer
Roll angle.
Step 104：By the filtered number positioned at the attitude transducer acquisition of position all around of three-component induction coil
Data fusion is done according to the data with the acquisition of the attitude transducer at filtered three-component induction coil center, due to each MEMS appearances
The filtered data of state sensor still have precision and stability problem, introduce multiple sensors here and measure three-component respectively
The roll angle and pitch angle of induction coil distribute different weights according to the height of the measurement accuracy of each sensor and carry out respectively
Data fusion, it is specific as follows：
The pitch angle of three-component induction coil：Wherein α0To be located at the three-component
The weights of induction coil center attitude transducer, θmPitching obtained by the attitude transducer that is located in three-component induction coil
Angle, αiTo be located at the weights of the pitch angle obtained by each attitude transducer of the three-component induction coil or so, θiIt is described to be located at
Pitch angle obtained by each attitude transducer of three-component induction coil or so, k are the number of sensor；
The roll angle of three-component induction coil：Wherein β0To be located at the three-component sense
Answer the weights of the attitude transducer of hub of a spool, φmTo be located at the horizontal stroke obtained by the attitude transducer at three-component induction coil center
Roll angle, βiThe weights of roll angle obtained by each attitude transducer for being located at before and after the three-component induction coil, φiTo be located at
The roll angle obtained by each attitude transducer before and after the three-component induction coil, k are the number of sensor.
Fig. 2 is three-component induction coil attitude measuring structure chart of the embodiment of the present invention, as shown in Fig. 2, three points a kind of
Induction coil attitude measuring is measured, including：Sensor group, gondola, central processing unit, low-pass filter and high-pass filtering
Device.
Sensor group specifically includes 2k+1 attitude transducer, and k is the natural number more than or equal to 1, wherein k posture sensing
Device is located at the front and back position of the three-component induction coil respectively, in addition k attitude transducer is located at the three-component line of induction
The right position of circle is respectively used to measure the roll angle and pitch angle of the three-component induction coil, another posture sensing
Device is located at the three-component induction coil center, for measuring the roll angle and pitch angle of attitude transducer simultaneously；
Specifically, sensor group includes 5 attitude transducers, specifically include：First sensor 1, second sensor 2,
Three sensors 3, the 4th sensor 4, the 5th sensor 5, respectively positioned at the center of three-component induction coil and three-component sense
Answer coil all around；Attitude transducer positioned at center is used to measure roll angle and the pitching of three-component induction coil
Angle is used to measure the roll angle of three-component induction coil, the posture positioned at the left and right sides positioned at the attitude transducer of front and back position
Sensor is used to measure the pitch angle of three-component induction coil.
The attitude transducer is specially MEMS (Micro Electro Mechanical System, MEMS)
Attitude transducer, including accelerometer and gyroscope.
Three-component induction coil is fixed on by 8 cotton ropes on gondola, and central processing unit is connected with sensor group, for reading
The data of the sensor group are taken, and the data of the sensor group of reading are calculated；Low-pass filter and high-pass filter
It is connected respectively with central processing unit, for the data obtained by sensor group to be filtered.
The central processing unit specifically includes data fusion unit, and the data fusion unit is used to that described three points will to be located at
The corresponding weights of roll angle value obtained by attitude transducer before and after amount induction coil are multiplied, are described positioned at the three-component line of induction
It encloses the corresponding weights multiplication of the pitching angle value obtained by the attitude transducer of left and right and three-component induction coil center posture passes
The corresponding weights multiplication of roll angle value that sensor measures is multiplied with the corresponding weights of pitching angle value, finally by each sensor
The attitude value acquired and its product summation of weights.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Specific case used herein is set forth the principle of the present invention and embodiment, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of three-component induction coil attitude measurement method, which is characterized in that comprise the following steps：
(1) data of each attitude transducer are read：Centered on three-component induction coil, k are placed in front and back position respectively
Attitude transducer, right position place k attitude transducer, and k is the natural number more than or equal to 1, and the posture of front and back position is made to pass
Straight line where sensor is X-axis, measures the roll angle of three-component induction coil, is made straight where the attitude transducer of right position
Line is Y-axis, measures the pitch angle of three-component induction coil；Simultaneously an attitude transducer is placed at three-component induction coil center
For measuring the roll angle of three-component induction coil and pitch angle；
(2) data obtained by low-pass filter and high-pass filter to single attitude transducer are filtered；
(3) by it is filtered positioned at three-component induction coil all around position attitude transducer obtain data and filtering after
Three-component induction coil center attitude transducer obtain data do data fusion.
2. a kind of three-component induction coil attitude measurement method according to claim 1, it is characterised in that：
The data obtained to single attitude transducer, which are filtered, to be specifically included：
The posture of attitude transducer is calculated according to accelerometer：Wherein θaIt is obtained for accelerometer
Pitch angle, φaFor the roll angle that accelerometer obtains, axFor the acceleration of x-axis direction, ayFor the acceleration in y-axis direction, azFor z
The acceleration of direction of principal axis；G is acceleration of gravity；
The posture of attitude transducer is calculated according to gyroscope：Wherein θgFor the pitch angle that gyroscope obtains, φgFor top
The roll angle that spiral shell instrument obtains, ωyFor the angular speed in y-axis direction, ωxFor the angular speed of x-axis direction；
Attitude data obtained by accelerometer and gyroscope is done into complementary filter, filtered pitch angle is：
θ (n)=α [θ (n-1)+T ωy(n)]+(1-α)θa(n), whereinL is constant；T is the sampling time；When n is
Between sequence, to be more than or equal to 1 natural number；ωyFor the angular speed in y-axis direction；θaThe pitch angle obtained for accelerometer；
Filtered roll angle is：
φ (n)=γ [φ (n-1)+T ωx(n)]+(1-γ)φa(n), whereinF is constant；T is the sampling time；n
For time series, to be more than or equal to 1 natural number, ωxFor the angular speed of x-axis direction, φaThe roll angle obtained for accelerometer.
3. a kind of three-component induction coil attitude measurement method according to claim 1, it is characterised in that：It is described to be located at
All around the data of attitude transducer acquisition of position pass three-component induction coil with the posture at three-component induction coil center
The data that sensor obtains do data fusion, are specially：
The pitch angle of three-component induction coil：Wherein α0To be located at the three-component line of induction
The weights of the attitude transducer of circle center, θmTo be located at the pitch angle obtained by the attitude transducer at three-component induction coil center, αi
To be located at the weights of the pitch angle obtained by each attitude transducer of the three-component induction coil or so, θiTo be located at described three points
The pitch angle obtained by each attitude transducer of induction coil or so is measured, k is the number of sensor；
The roll angle of three-component induction coil：Wherein β0To be located at the three-component line of induction
The weights of the attitude transducer of circle center, φmTo be located at the roll angle obtained by the attitude transducer at three-component induction coil center,
βiThe weights of roll angle obtained by each attitude transducer for being located at before and after the three-component induction coil, φiTo be located at described three
The roll angle obtained by each attitude transducer before and after component induction coil, k are the number of sensor.
4. a kind of three-component induction coil attitude measurement method according to claim 1, it is characterised in that：It further includes,
Test environment is built before reading the data of each attitude transducer.
5. a kind of three-component induction coil attitude measuring, it is characterised in that：Including sensor group, gondola, central processing
Device, low-pass filter and high-pass filter, three-component induction coil are fixed on by cotton rope on the gondola, the sensor
Group includes 2k+1 attitude transducer, and k is the natural number more than or equal to 1, and wherein k attitude transducer is located at described three points respectively
The front and back position of induction coil is measured, for measuring the roll angle of the three-component induction coil, in addition k attitude transducer is located at
The right position of the three-component induction coil, for measuring the pitch angle of the three-component induction coil, described in another
Attitude transducer is located at the three-component induction coil center, for simultaneously measure the three-component induction coil roll angle and
Pitch angle；The central processing unit is connected with the sensor group, for reading the data of the sensor group, and by reading
The data of the sensor group are calculated；The low-pass filter and the high-pass filter respectively with the central processing unit
Connection, for the data obtained by the sensor group to be filtered.
6. a kind of three-component induction coil attitude measuring according to claim 5, it is characterised in that：The posture passes
Sensor is MEMS attitude transducer.
7. a kind of three-component induction coil attitude measuring according to claim 6, it is characterised in that：The posture passes
Sensor includes accelerometer and gyroscope.
8. a kind of three-component induction coil attitude measuring according to claim 5, it is characterised in that：The centre
Reason implement body includes, data fusion unit, and the data fusion unit is used to be located at described before and after three-component induction coil
The corresponding weights of roll angle value obtained by attitude transducer are multiplied, the posture sensing positioned at three-component induction coil or so
The roll angle that the corresponding weights of pitching angle value obtained by device are multiplied and three-component induction coil center attitude transducer measures
Be worth the multiplication of corresponding weights to be multiplied with the corresponding weights of pitching angle value, the attitude value that finally acquires each sensor and its
The product summation of weights.
9. a kind of three-component induction coil attitude measuring according to claim 5, it is characterised in that：The sensor
Group includes 5 attitude transducers, respectively before the center of the three-component induction coil and three-component induction coil
Left and right afterwards, the attitude transducer positioned at center is used to measure the roll angle and pitch angle of three-component induction coil, before being located at
The attitude transducer of position is used to measure the roll angle of three-component induction coil afterwards, and the attitude transducer positioned at right position is used for
Measure the pitch angle of three-component induction coil.
10. a kind of three-component induction coil attitude measuring according to claim 5, it is characterised in that：The cotton rope
For 8.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108761547A (en) * | 2018-08-13 | 2018-11-06 | 吉林工商学院 | A kind of fixed-wing aviation electromagnetic data conductivity Depth Imaging method with system auxiliary parameter |
| CN108955631A (en) * | 2018-10-13 | 2018-12-07 | 北华航天工业学院 | A kind of attitude measurement method of three-component induction coil |
| CN110595468A (en) * | 2019-09-25 | 2019-12-20 | 中国地质科学院地球物理地球化学勘查研究所 | Three-component induction coil attitude measurement system and method based on deep learning |
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