CN108761546B - A kind of underwater dynamic high precision mgnetic observations method and device - Google Patents
A kind of underwater dynamic high precision mgnetic observations method and device Download PDFInfo
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- CN108761546B CN108761546B CN201810764183.2A CN201810764183A CN108761546B CN 108761546 B CN108761546 B CN 108761546B CN 201810764183 A CN201810764183 A CN 201810764183A CN 108761546 B CN108761546 B CN 108761546B
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- 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
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Abstract
The present invention relates to a kind of underwater dynamic high precision mgnetic observations method and devices, it the described method comprises the following steps: step A: calibration three axis of magnetometer itself, make to keep orthogonal between each axis of three axis of magnetometer, including following sub-step: step A1: finding out the fixed interference magnetic force H in the external world in addition to carrierhValue, step A2: ξ is found out using least square method, step A3 finds out symmetrical matrix A, step A4: finds out K and He, step A5: calculate Hm；Step B includes the following steps successively executed: step B1: posture instrument X-axis being rotated and is overlapped with the X-axis of magnetometer, step B2: posture instrument Y-axis being rotated and is overlapped with the Y-axis of magnetometer, step B3: posture instrument Z axis being rotated and is overlapped with the Z axis of magnetometer.The invention enables the magnetic axis of magnetometer itself, orthogonal and each magnetic axis each axis corresponding with posture instrument is consistent, and can obtain high-precision mgnetic observations data in a dynamic condition.
Description
Technical field
The present invention relates to exploring equipment technical field, specifically a kind of underwater dynamic high precision mgnetic observations method and dress
It sets.
Background technique
The precision of seabed mgnetic observations is with apart from directly proportional, closer apart from seabed, the magnetic force precision of measurement is also higher, distance
Remoter, precision is lower；And traditional marine magnetism exploration uses boat-carrying mode, due to apart from anomaly source farther out, it is difficult to obtain high
The precision and resolution requirement of deep-sea oil gas and mineral resources is not achieved in the geomagnetic force information of resolution ratio.In deepwater environment,
Magnetometer carries out marine magnetism detection by carrier, for example by the way that magnetometer to be mounted on detection towed body, detects towed body in mother
During ship towing, influenced by lash ship towing and ocean current, the posture for detecting towed body has certain variation, this leads to magnetometer
Three axis directions in magnetic field and three axis (X, Y, Z axis) direction of posture instrument are inconsistent, and three axis of posture instrument represent the true earth
Triaxial coordinate, this means that the magnetic field for three axis directions that magnetometer measures, that is, three axis of magnetic force three-component measured and the earth three
Axial coordinate is inconsistent, and makes have error after synthesizing to magnetic force three-component with true magnetic force, namely the magnetic force three measured
Component precision is not high.In this way in order to obtain high-precision magnetic force three-component, it is necessary to solve three axis direction of magnetometer and posture instrument
The consistent problem of three axis.
Simultaneously because magnetometer carrier mounted, specifically in hydrospace detection application, in the towed body that magnetometer carries
Ferrimagnet component can one interference magnetic force of magnetic field superposition over the ground, the interference magnetic force, the intrinsic magnetic field being defined as on carrier；Together
When towed body in material can be magnetized by earth magnetism place, the magnetic susceptibility of a material be it is anisotropic, by earth magnetism place magnetization after produced
Raw interference magnetic force can be also applied on towed body, the interference magnetic force generated after material magnetization, and the external world being defined as in addition to carrier is solid
Surely magnetic force is interfered；Due to the presence of above two interference magnetic force, so that measurement data ultimately forms centre of sphere deviation from origin, a master
The ellipsoid of axis and system coordinate system oblique that is to say that there are magnetometers each axis between centers is nonopiate, each axis calibration factor is different
It causes, the problem that zero bias are inconsistent.
Summary of the invention
In view of the deficiencies of the prior art, an object of the present invention provides a kind of underwater dynamic high precision mgnetic observations side
Method is able to solve the problem that three axis of magnetometer cannot be orthogonal.
The second object of the present invention provides a kind of magnetic force magnetic means, and be able to solve that three axis of magnetometer cannot be orthogonal asks
Topic.
Realize the technical solution of one of the object of the invention are as follows: a kind of underwater dynamic high precision mgnetic observations method, including with
Lower step:
Step A: calibration three axis of magnetometer itself makes to keep orthogonal between each axis of three axis of magnetometer, including following sub-step:
Step A1: the measurement data H of magnetometer is obtainedmi, find out the fixed interference magnetic force H in the external world in addition to carrierhValue, meter
1. calculating formula is:
In formula, n is number of sampling points,
Step A2: finding out the ξ of formula 2. using least square method,
In formula,ξ=[a b c d e f 1]T, a, b, c, d, e, f are equal
For constant, F=X ' ξ, (x, y, z) indicates (Hm-Hh) value of three axis components under 0xyz coordinate system,
3. step A3: finding out symmetrical matrix A according to formula,
Step A4: 4. according to equation group, K and H are found oute,
Wherein, U is orthogonal matrix, SAFor A eigenvalue cluster at diagonal matrix, M=(E+K)-1, E be 3 × 3 unit square
Battle array, K are carrier induced magnetic field coefficient,
Step A5: 5. H is calculated according to formulam,
Hm=(K+E)-1He+Hh------⑤
Thus the orthogonal H of three axis is obtainedm, compared to common magnetometer, ensure that data measured precision is higher；
After processing of step A, step B is executed, realizes that three axis direction of magnetometer is consistent with three axis of posture instrument, step
B includes the following steps successively executed:
Step B1: posture instrument X-axis is rotated and is overlapped with the X-axis of magnetometer, postrotational three axis magnetic is 6. obtained according to formula
Force component,
In formula, (x1,y1,z1) be the postrotational magnetometer of X-axis three axis magnetic force components, (x, y, z) is the magnetic before not rotating
Three axis magnetic force components of power instrument, ψ are the tilt angle between the X-axis of posture instrument and the X-axis of magnetometer；
Step B2: posture instrument Y-axis is rotated and is overlapped with the Y-axis of magnetometer, postrotational three axis magnetic is 7. obtained according to formula
Force component,
In formula, (x2,y2,z2) be the postrotational magnetometer of Y-axis three axis magnetic force components, τ be posture instrument Y-axis and magnetic force
Tilt angle between the Y-axis of instrument；
Step B3: posture instrument Z axis is rotated and is overlapped with the Z axis of magnetometer, postrotational three axis magnetic is 8. obtained according to formula
Force component,
In formula, (x3,y3,z3) be the postrotational magnetometer of Z axis three axis magnetic force components, ω be posture instrument Z axis and magnetic force
Tilt angle between the Z axis of instrument；
Step B1, the value of ψ, τ and ω in B2 and B3 can directly calculate acquisition by the three axis accelerometer inside posture instrument.
Further, the magnetometer is flux-gate magnetometer.
Realize two technical solution of the object of the invention are as follows: a kind of mgnetic observations device, including major diameter cylinder, minor diameter
Cylinder, magnetometer, posture instrument and controller, the length of minor diameter cylinder are greater than the length of major diameter cylinder；The major diameter cylinder includes the
One upper cover, the first cylinder and lower cover, the first cylinder be it is hollow columnar structured, the first upper cover and lower cover are separately positioned on first
The both ends of cylinder, the connection of the first upper cover and lower cover and the first cylinder are detachable and are tightly connected, and minor diameter cylinder includes the
Two cylinders and the second upper cover are to be sealedly and fixedly connected between the second cylinder and the first upper cover and the second cylinder and the second upper cover；
It is equipped with posture instrument and controller in first cylinder, is equipped with magnetometer in the second cylinder of minor diameter cylinder；Posture instrument and magnetometer are equal
It is electrically connected with controller, controller is used to execute the underwater dynamic high precision mgnetic observations method.
Further, the diameter of the major diameter cylinder is 347mm, and the diameter of minor diameter cylinder is 99mm, the length of major diameter cylinder
Degree is 530mm, and the length of minor diameter cylinder is 1616mm.
Further, the magnetometer is flux-gate magnetometer.
The invention has the benefit that
1) present invention solves under dynamic condition, the problem that each between centers of magnetometer itself cannot be orthogonal；
2) solve the problems, such as simultaneously it is between magnetometer each axis corresponding with posture instrument inconsistent so that magnetometer itself
Magnetic axis is orthogonal and each magnetic axis each axis corresponding with posture instrument is consistent, and can obtain high-precision mgnetic observations in a dynamic condition
Data.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is deflection cloud atlas of the invention；
Fig. 3 is equivalent stress cloud atlas of the invention；
Fig. 4 is the deflection cloud atlas of major diameter cylinder of the invention；
Fig. 5 is the equivalent force cloud atlas of major diameter cylinder of the invention；
Fig. 6 is the first rank bending deformation cloud atlas of major diameter cylinder of the invention；
In figure, under the second upper cover of 3081-, the second cylinder of 3082-, the first upper cover of 3083-, the first cylinder of 3084-, 3085-
Lid.
Specific embodiment
In the following, being described further in conjunction with attached drawing and specific embodiment to the present invention:
As shown in Figure 1, a kind of underwater dynamic high precision magnetic means, including major diameter cylinder, minor diameter cylinder and controller (figure
In be not shown), the diameter of the major diameter cylinder is 347mm, and the diameter of minor diameter cylinder is 99mm, and the length of minor diameter cylinder is greater than big
The length of the length of diameter cylinder, major diameter cylinder is 530mm, belongs to the planform of short cylinder, the length of minor diameter cylinder is
1616mm belongs to the planform of long cylinder；The major diameter cylinder includes the first upper cover 3083, the first cylinder 3084 and lower cover
3085, the first cylinder 3084 be it is hollow columnar structured, be equipped with posture instrument in the first cylinder 3084, the first upper cover 3083 and under
Lid 3085 is separately positioned on the both ends of the first cylinder 3084, and minor diameter cylinder includes the second cylinder 3082 and the second upper cover 3081, the
Two cylinders 3082 are to be sealedly and fixedly connected with the first upper cover 3083, and the second upper cover 3081 and the second cylinder 3082 are the fixed company of sealing
It connects, the magnetometer equipped with fluxgate sensor composition in the second cylinder 3082 of minor diameter cylinder, namely in the second cylinder 3082
It, in the present embodiment, can be using the model FVM-400 of Beijing Sheng Shuo Science and Technology Ltd. production equipped with flux-gate magnetometer
Flux-gate magnetometer；Posture instrument and controller are arranged in the first cylinder 3084 of major diameter cylinder, posture instrument and magnetometer
It is electrically connected with controller；For the ease of the equipment including posture instrument and controller is mounted in the first cylinder 3084
First upper cover 3083 and lower cover 3085 and the connection type of the first cylinder 3084 are both designed as being detachably connected by portion, meanwhile, it is
Guarantee that magnetic means can adapt to underwater environment, the first upper cover 3083 and lower cover 3085 and the connection of the first cylinder 3084 is
It is tightly connected.
Design small one and large one variable diameter diameter cylinder in this way, it can be ensured that kept between fluxgate sensor and posture instrument certain
Distance, avoid impacting fluxgate sensor due to the electronic equipment in the major diameter cylinder.
In deepwater environment, magnetometer directly contacts seawater, therefore magnetometer is required to bear high pressure, needs thus pair
The wall thickness of major diameter cylinder and minor diameter cylinder carries out meticulous design:
Major diameter cylinder and minor diameter cylinder are all made of TC4 titanium alloy, the material characteristic parameter are as follows: density 4500kg/m3, tension
Intensity 895MPa, yield strength 825MPa, elasticity modulus 113GPa, Poisson's ratio 0.33；
For major diameter cylinder, the thickness t of design strength p=28MPa, major diameter cylinder (that is, refer to the first cylinder 3084
Thickness) the following conditions need to be met:
In formula,For correction factor, when initial calculation, is takenR0For the outer diameter of major diameter cylinder, R is taken0=
173.5mm, δsIndicate yield strength, value 825, pjExpression design strength, value 28,
It is calculated:
t≥7.6mm
Consideration designs and the actual conditions of processing technology, in the present embodiment, takes the thickness t=16mm of major diameter cylinder, at this point,
The internal diameter of corresponding major diameter cylinder is 157.5mm.
Under such thickness, the stability to major diameter cylinder is needed to check:
Critical length LcrIt needs to meet following formula:
In formula, D is that the average diameter of major diameter cylinder takes D=331mm in this embodiment, can be calculated Lcr=
1761.4mm, length L=530mm < L of major diametercr, therefore major diameter cylinder belongs to short cylinder, calculates in this way according to short cylinder public
Formula calculates critical pressure PcrValue:
P is calculatedcr=93.9Mpa, and the calculating formula of external pressure allowable [P] are as follows:
Related pressure vessel design code is provided according to China, external pressure cylinder design take m=3.0, obtain in this way [P]=
31.3Mpa, design strength p < [P], therefore the wall thickness t=16mm of major diameter cylinder is met the requirements.
First upper cover 3083 of major diameter cylinder is identical with the thickness and its diameter of lower cover 3085, all needs to meet following formula:
In formula, R is the diameter of the first upper cover 3083 or lower cover 3085, and the diameter of the first upper cover 3083 or lower cover 3085 is equal to
The internal diameter of major diameter cylinder, i.e. R=157.5mm, t are the thickness of the first upper cover 3083 or lower cover 3085, in the present embodiment, take t=
10mm, q are the uniform load of the first upper cover 3083 or lower cover 3085, take q=2180965.5N, σmaxIndicate the first upper cover 3083
Or the maximum stress of lower cover 3085,
After calculating, σ is obtainedmax=670.86Mpa < 825Mpa, it is contemplated that the first upper cover 3083 and lower cover 3085 need
The practical factors such as aperture, we take the thickness t=40mm of the first upper cover 3083 and lower cover 3085.
3082 thickness of the second cylinder of minor diameter cylinder and the THICKNESS CALCULATION mode of the second upper cover 3081 are similar with major diameter cylinder,
Just do not repeat, finally, be calculated herein, the second cylinder 3082 of minor diameter cylinder with a thickness of 7mm, the second upper cover 3081
With a thickness of 35mm.
It checks, passes through finally, we carry out stabilized soil pavement to the major diameter cylinder and minor diameter cylinder of above-mentioned size
Their intensity of simulation analysis is carried out using static structure mechanics, magnetometer entirety pressure-bearing cabin strength check can be with by Fig. 2 and Fig. 3
Find out, under the action of external pressure 28Mpa, maximum stress point appears in the link position of small diameter cylinder and large diameter cylinder, but
And it is less than the yield strength of material therefor TC4 titanium alloy, this position belongs to stress concentration point, within the scope of safe design；
As can be seen from Figure 4 and Figure 5, under the pressure effect of external pressure 28Mpa, shell maximum stress is the strength check of major diameter shell
430.27Mpa, maximum stress are less than the yield strength of TC4 titanium alloy, and maximum deformation quantity 0.48mm, deflection is smaller, therefore
Meet requirement of strength design；
As shown in fig. 6,3084 shell of the first cylinder based on large diameter cylinder carries out statics strength Calculation Result, at it
On the basis of deformation and residual stress, keep boundary condition constant, and apply hydrostatic pressure (28MPa), to large diameter cylinder
First cylinder, 3084 shell carries out the deformed buckling load factor and calculates, the buckling stability after analyzing housing distortion.It calculates
The preceding 6 rank characteristic value of structure is taken, as a result as shown in the table:
| Order | 1 | 2 | 3 | 4 | 5 | 6 |
| The buckling load factor | 4.0469 | 4.0471 | 5.1414 | 7.406 | 7.4097 | 7.9768 |
The deformed buckling load factor calculated result of first cylinder, 3084 statics
According to buckling load factor calculated result as it can be seen that the first rank buckling mode is easiest to that unstability, Instability item occurs
The corresponding hydrostatic pressure of part is 4.0469 × 28=113.3Mpa.The present invention is applied to the depth of water for 2000m, therefore large diameter cylinder
The first cylinder 3084 design meet requirement.
Likewise, the stabilized soil pavement check of small diameter cylinder is similar with large diameter cylinder, it is small straight after simulation analysis
Diameter cylinder can adapt to deep-marine-environment, meet actual requirement.
Since there are nonopiate, each axis calibration factor is inconsistent, zero bias are different between each axis of three axis of magnetometer itself
The problem of cause, needs to realize three axis of magnetometer that the consistency of axis, earth's magnetic field observation can be indicated by formula (4):
Hm=He+Hs+Hh (4)
In formula, HmFor earth's magnetic field observation, the three axis magnetic force components measured by magnetometer, H that is to sayeFor the intrinsic of carrier
Magnetic field, HsFor the induced magnetic field on carrier, HhMagnetic force is interfered for the external world in addition to carrier is fixed,
According to Poisson's equation, the induced magnetic field H of carriersWith the relationship of formula (5) between the intrinsic magnetic field of carrier:
Hs=KHe (5)
In formula, K is that carrier induced magnetic field coefficient obtains formula (6) after formula (5) are substituted into (1):
Hm=(K+E)-1He+Hh (6)
In formula, the unit matrix that E is 3 × 3, the value of K is 0.1-0.5 times of E value, carrier induced magnetic field COEFFICIENT K and is consolidated
Surely magnetic force H is interferedhFor carrier magnetic interference compensating parameter, meanwhile, it defines M=(E+K)-1, in this way, to HmCalculating and analysis just
It can be exchanged into matrix M and HhCalculating and analysis, and when carrier moves in the lesser region of geomagnetic field variation, for example pass through
Magnetometer is mounted on towed body and is applied in hydrospace detection, it can be by the intrinsic magnetic field H of carriereIt is considered as constant, that is, has (He)THe=const, const indicate constant, in this way our available formula (7):
If matrix A=MTM/||He||2, matrix A is a symmetrical matrix, then formula (7) can be indicated with formula (8):
(Hm-Hh)TA(Hm-Hh)=1 (8)
Wherein,A, b, c, d, e, f are constant.
Formula (8) is the matrix form of ellipsoid equation, and ellipsoid centre coordinate is the fixed interference magnetic force in the external world in addition to carrier
Coordinate, i.e. Hh=(Hhx,Hhy,Hhz), (Hhx,Hhy,Hhz) indicate X, Y, Z axis three axis magnetic force component values,
Therefore we can carry out ellipse fitting by the least square method of ellipse restriction and seek the compensation of carrier magnetic interference
Parameter, detailed process is as follows:
Firstly, finding out the fixed interference magnetic force H in the external world in addition to carrierhValue, calculation formula be (9):
In formula, HmiFor fluxgate sensor measurement data, the value of n is number of sampling points, as fluxgate sensor
Number,
Then, matrix A expression formula is updated in formula (8), and the matrix form of formula (8) is converted into ellipsoid equation
General type, available formula (10) of the foundation under 0xy coordinate system (i.e. cartesian coordinate system):
ax2+bxy+cy2+dxz+eyz+fz2=1 (10)
In formula, x, y, z respectively represent the value of the x-axis, y-axis and z-axis under 0xy coordinate system.
N sensor measurement data H in this waymiCorresponding n (Hm-Hh), define Hm-Hh=[x y z]T, (x, y, z) is indicated
(Hm-Hh) three axis components value, n system of linear equations can be obtained by according to formula (8) and (10):
F (X ', ξ)=X ' ξ=ax2+bxy+cy2+dxz+eyz+fz2-1
In formula,ξ=[a b c d e f 1]T, (x, y, z) indicates (Hm-
Hh) value of three axis components under 0xyz coordinate system, the solution of such matrix A translate into the extreme value under constraint condition solution ask
Topic, i.e. formula (11):
Estimated value is acquired by least square methodOne can consider thatAnd then find out matrix A；
Due to symmetrical matrix A=UTSAU, wherein U is orthogonal matrix, SAFor A eigenvalue cluster at diagonal matrix, in this way I
Available formula (12):
K, H are calculated according to formula (12)eH is calculated with according to formula (9)hAfterwards, it can be deduced that after compensation calculation
Hm, HmIt that is to say the magnetic force value that the present invention needs to obtain, can be realized after handling through the above steps and H is measured by triaxial magnetometerm
Three direction magnetic field values to be in zero point, sensitivity consistent and orthogonal.
After solving the problems, such as that three axis of magnetometer itself is orthogonal, since the above-mentioned fluxgate being mounted in small diameter cylinder passes
Sensor and three axis of the posture instrument being mounted in large diameter cylinder are simultaneously completely the same, in order to realize three axis direction of magnetometer and posture
Three axis of instrument is consistent, and needs to perform the following steps in sequence:
Step S1: posture instrument X-axis is rotated and is overlapped with the X-axis of magnetometer, postrotational three axis magnetic is obtained according to formula (1)
Force component,
In formula, (x1,y1,z1) be the postrotational magnetometer of X-axis three axis magnetic force components, (x ', y ', z ') be do not rotate before
Magnetometer three axis magnetic force components, namely represent three axis magnetic force components of magnetometer under current state, ψ is the X of posture instrument
Tilt angle between axis and the X-axis of magnetometer；
Step S2: posture instrument Y-axis is rotated and is overlapped with the Y-axis of magnetometer, postrotational three axis magnetic is obtained according to formula (2)
Force component,
In formula, (x2,y2,z2) be the postrotational magnetometer of Y-axis three axis magnetic force components, τ be posture instrument Y-axis and magnetic force
Tilt angle between the Y-axis of instrument；
Step S3: posture instrument Z axis is rotated and is overlapped with the Z axis of magnetometer, postrotational three axis magnetic is obtained according to formula (3)
Force component,
In formula, (x3,y3,z3) be the postrotational magnetometer of Z axis three axis magnetic force components, ω be posture instrument Z axis and magnetic force
Tilt angle between the Z axis of instrument；
The value of formula (1), (2) and ψ, τ and ω in (3) can directly be calculated by the three axis accelerometer inside posture instrument
Come, calculating process does not just repeat herein.
The step A and step B is executed by controller.
By executing above step, three axis of three axis of magnetometer and posture instrument can be consistent；The above method is
Be consistent each overlapping of axles of its each axis and magnetometer by rotation attitude instrument, naturally it is also possible to rotating magnetometer and make it
Each overlapping of axles of each axis and posture instrument are consistent, and the effect of two kinds of rotation modes is consistent.
By will ensure that each magnetic axis of magnetometer is protected with each axis of corresponding posture instrument in conjunction with magnetometer and posture instrument
It holds unanimously, improves the precision of magnetometer measurement data.
For those skilled in the art, it can make other each according to the above description of the technical scheme and ideas
Kind is corresponding to be changed and deforms, and all these change and deform the protection model that all should belong to the claims in the present invention
Within enclosing.
Claims (5)
1. a kind of underwater dynamic high precision mgnetic observations method, it is characterised in that: the following steps are included:
Step A: calibration three axis of magnetometer itself makes to keep orthogonal between each axis of three axis of magnetometer, including following sub-step:
Step A1: the measurement data H of magnetometer is obtainedmi, find out the fixed interference magnetic force H in the external world in addition to carrierhValue, calculate public
1. formula is:
In formula, n is number of sampling points,
Step A2: finding out the ξ of formula 2. using least square method,
In formula,ξ=[a b c d e f 1]T, a, b, c, d, e, f are normal
Number, F=X ' ξ, (x, y, z) indicate (Hm-Hh) value of three axis components under 0xyz coordinate system,
3. step A3: finding out symmetrical matrix A according to formula,
Step A4: 4. according to equation group, the intrinsic magnetic field H of K and carrier is found oute,
Wherein, U is orthogonal matrix, SAFor A eigenvalue cluster at diagonal matrix, M=(E+K)-1, the unit matrix that E is 3 × 3, K
For carrier induced magnetic field coefficient,
Step A5: earth's magnetic field observation H is 5. calculated according to formulam,
Hm=(K+E)-1He+Hh------⑤
Thus the orthogonal H of three axis is obtainedm；
After the processing of step A, step B is executed, step B includes the following sub-step successively executed:
Step B1: posture instrument X-axis is rotated and is overlapped with the X-axis of magnetometer, is obtained between the X-axis of posture instrument and the X-axis of magnetometer
Tilt angle ψ, postrotational three axis magnetic force component is 6. obtained according to formula,
In formula, (x1,y1,z1) be the postrotational magnetometer of X-axis three axis magnetic force components, (x ', y ', z ') is the magnetic before not rotating
Three axis magnetic force components of power instrument；
Step B2: posture instrument Y-axis is rotated and is overlapped with the Y-axis of magnetometer, is obtained between the Y-axis of posture instrument and the Y-axis of magnetometer
Tilt angle tau, postrotational three axis magnetic force component is 7. obtained according to formula,
In formula, (x2,y2,z2) be the postrotational magnetometer of Y-axis three axis magnetic force components；
Step B3: posture instrument Z axis is rotated and is overlapped with the Z axis of magnetometer, is obtained between the Z axis of posture instrument and the Z axis of magnetometer
Tilt angle ω, postrotational three axis magnetic force component is 8. obtained according to formula,
In formula, (x3,y3,z3) be the postrotational magnetometer of Z axis three axis magnetic force components.
2. underwater dynamic high precision mgnetic observations method according to claim 1, it is characterised in that: the magnetometer is magnetic flux
Door magnetometer.
3. a kind of mgnetic observations device, it is characterised in that: including major diameter cylinder, minor diameter cylinder, magnetometer, posture instrument and control
Device, the length of minor diameter cylinder are greater than the length of major diameter cylinder；The major diameter cylinder includes the first upper cover, the first cylinder and lower cover,
First cylinder be it is hollow columnar structured, the first upper cover and lower cover are separately positioned on the both ends of the first cylinder, the first upper cover and
The connection of lower cover and the first cylinder is detachable and is tightly connected, and minor diameter cylinder includes the second cylinder and the second upper cover, and second
It is to be sealedly and fixedly connected between cylinder and the first upper cover and the second cylinder and the second upper cover；Be equipped in first cylinder posture instrument and
Controller, the second cylinder of minor diameter cylinder is interior to be equipped with magnetometer；Posture instrument and magnetometer are electrically connected with controller, controller
For executing underwater dynamic high precision mgnetic observations method as described in claim 1.
4. mgnetic observations device according to claim 3, it is characterised in that: the diameter of the major diameter cylinder is 347mm, small
The diameter of diameter cylinder is 99mm, and the length of major diameter cylinder is 530mm, and the length of minor diameter cylinder is 1616mm.
5. mgnetic observations device according to claim 3 or 4, it is characterised in that: the magnetometer is flux-gate magnetometer.
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| JPS5559352A (en) * | 1978-10-28 | 1980-05-02 | Tanekage Yoshii | Magnetic source detecting method through measurement of magnetic field |
| US6191582B1 (en) * | 1999-07-21 | 2001-02-20 | General Electric Company | Eddy current compensation |
| CN104730588A (en) * | 2015-03-11 | 2015-06-24 | 广州海洋地质调查局 | Proton precession magnetic measuring system |
| CN104793255B (en) * | 2015-05-03 | 2017-06-20 | 国家海洋局第一海洋研究所 | A kind of marine magnetism detection method and device for polar region sea-ice field |
| CN206470416U (en) * | 2017-01-18 | 2017-09-05 | 中国冶金地质总局地球物理勘查院 | A kind of helicopter airborne geophysical prospecting geomagnetic total field three-dimensional gradient measures erecting by overhang |
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