CN108871301B - Magnetic field azimuth measuring method - Google Patents
Magnetic field azimuth measuring method Download PDFInfo
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- CN108871301B CN108871301B CN201810788953.7A CN201810788953A CN108871301B CN 108871301 B CN108871301 B CN 108871301B CN 201810788953 A CN201810788953 A CN 201810788953A CN 108871301 B CN108871301 B CN 108871301B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
Abstract
The invention provides a magnetic field azimuth measuring method. The method is used for calibrating the relation between the measurable magnetic field direction and the included angle of the earth coordinate system, and can realize Euler angle calibration of the magnetic sensor and other sensors, calibration of the standard magnetic source magnetic field direction and the like. The method comprises the steps of establishing a set of standard device of a magnetic measuring axis coordinate system and an earth coordinate system (or a celestial body coordinate system), measuring related physical quantities by a vector magnetic sensor and a physical quantity tester related to the earth coordinate system (or the celestial body coordinate system) to construct a relation with the earth coordinate system (or the celestial body coordinate system), and measuring an included angle relation between a measuring axis of the magnetic sensor and a measuring axis of a gyrotheodolite, a star sensor and the like by means of the relation between an earth magnetic field and the earth coordinate system (or the celestial body coordinate system), so that the relative relation between a magnetic axis of a standard magnetic source coil and the earth coordinate system (or the celestial body coordinate system) can be measured and evaluated by the standard device.
Description
Technical Field
The invention relates to the field of magnetic field measurement, which is used for calibrating the relation between the direction of a measurable magnetic field and the included angle of a terrestrial coordinate system, in particular to a magnetic field azimuth measurement method.
Background
At present, the precision of a vector magnetic field is an effective means and approach for human to ascertain the world, wherein, the magnetic field modulus value testing tools are abundant and have higher precision, and a typical magnetometer comprises: the highest precision can reach the Peter level; however, the magnetic field vector direction test is difficult to ensure, and the root tracing reason is that the vector calibration of the magnetic sensor lacks a reference, and it is difficult to directly relate the space geometric coordinate system with the magnetic field direction, for example, a standard magnetic source coil is formed by winding a plurality of strands of coils by using a framework as a constraint condition, and the framework and the coil processing and winding processes introduce deviation, so that the geometric axis of the coil and the magnetic field axis generated by the coil have deviation, and the deviation is not measured by an accurate method.
The magnetic axis direction of a standard magnetic source coil cannot be calibrated, and the spatial coordinate axis relation of the vector magnetic sensor and other sensors cannot be calibrated; the typical problem is the joint calibration problem of the fluxgate sensor and the star sensor for the geomagnetic exploration satellite; in a modern geomagnetic observation satellite, high-precision geomagnetic field vector data is obtained mainly by using a fluxgate sensor, and the magnetic measurement satellite requires that the error of each component of the magnetic field data is in nT magnitude; the index puts higher requirements on the space measurement precision of the fluxgate; the amplitude of the geomagnetic field intensity changes within the range of +/-50000 nT, and if the space azimuth angle of the fluxgate has an error of 2', the error of the measured magnetic field data on a certain component reaches 0.49 nT; in order to meet the index requirement, the positioning precision of the fluxgate space azimuth angle needs to be strictly controlled, the space attitude of the fluxgate needs to be determined by the star sensor, and the attitude of the fluxgate can be accurately obtained only by eliminating the euler angles of the fluxgate sensor and the star sensor and eliminating or compensating the error of the euler angles.
Disclosure of Invention
The present invention is directed to solve the problems of the prior art, and therefore, to provide a magnetic field orientation measurement method, which can calibrate the relationship between the measured magnetic field direction and the angle of the terrestrial coordinate system, and can calibrate the euler angles of the magnetic sensor and other sensors, and calibrate the magnetic field direction of the standard magnetic source.
The purpose of the invention is realized by the following technical scheme:
a magnetic field azimuth measuring method comprises the following steps,
the device comprises a vector magnetic sensor and other sensors related to the celestial body coordinate system, wherein the vector magnetic sensor and the other sensors are arranged on a rigid platform, and the rigid platform is made of non-residual magnetism and non-magnetic conductive materials.
Secondly, the vector magnetic sensor and other sensors are combined to measure relevant physical quantities to construct a relation with a celestial body coordinate system, and then the relation of an included angle between a measuring shaft of the vector magnetic sensor and a measuring shaft of other sensors is measured by means of the relation between a celestial body magnetic field and the celestial body coordinate system, so that the relation between the coordinate system of the vector magnetic sensor and the Euler angle of the coordinate shafts of other sensors is calibrated.
And thirdly, the included angle relationship between the vector magnetic sensor and the coordinate axes of other sensors can be realized through calibration, the Euler angles (alpha, beta and gamma) of the vector magnetic sensor and the coordinate systems of other sensors can be confirmed, and the relative relationship between the vector magnetic sensor and the celestial body coordinate system can be measured in real time through the direction confirmation function of other sensors, so that the test of the magnetic field axis of the standard magnetic source coil or the magnetic field direction of the attention interval can be realized.
Furthermore, the vector magnetic sensor is a fluxgate sensor.
Furthermore, the vector magnetic sensor is an atomic magnetometer.
Furthermore, the other sensors are gyrotheodolite, and the relative relation between the vector magnetic sensor and the celestial body coordinate system is measured in real time by using the function that the other sensors point to the true north direction.
Furthermore, the other sensors are star sensors, and the relative relation between the vector magnetic sensor and the celestial body coordinate system is measured in real time by using the function of observing star maps to confirm the direction.
The invention has the beneficial effects that: by adopting the technical scheme of the invention, the direction of the magnetic axis of the standard magnetic source coil in an celestial body coordinate system or a terrestrial dungeon coordinate system can be calibrated, and the spatial coordinate axis relation of the vector magnetic sensor and other sensors can also be calibrated; the accuracy is high. Fills up the technical blank in the technical field.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, the magnetic field azimuth measuring method according to the present embodiment includes the following steps,
the device comprises a vector magnetic sensor and other sensors related to the celestial body coordinate system, wherein the vector magnetic sensor and the other sensors are arranged on a rigid platform, and the rigid platform is made of non-residual magnetism and non-magnetic conductive materials.
Secondly, the vector magnetic sensor and other sensors are combined to measure relevant physical quantities to construct a relation with a celestial body coordinate system, and then the relation of an included angle between a measuring shaft of the vector magnetic sensor and a measuring shaft of other sensors is measured by means of the relation between a celestial body magnetic field and the celestial body coordinate system, so that the relation between the coordinate system of the vector magnetic sensor and the Euler angle of the coordinate shafts of other sensors is calibrated.
And thirdly, the included angle relationship between the vector magnetic sensor and the coordinate axes of other sensors can be realized through calibration, the Euler angles (alpha, beta and gamma) of the vector magnetic sensor and the coordinate systems of other sensors can be confirmed, and the relative relationship between the vector magnetic sensor and the celestial body coordinate system can be measured in real time through the direction confirmation function of other sensors, so that the test of the magnetic field axis of the standard magnetic source coil or the magnetic field direction of the attention interval can be realized.
As an embodiment of the present invention, a method is described by taking a fluxgate sensor and a star sensor measurement system as an example of joint calibration:
by using the measurements of the star sensor and theoretical knowledge about the earth's rotation and an estimate of the relative positioning between the fluxgate sensor (MAG) and the star Sensor (SIM), the measurements of the reference magnetic sensor (REF, set REF coordinate system "local north, east and vertical down" coordinate system) are transformed from the reference coordinate system to the fluxgate sensor coordinate system and expressed by rotation and coordinate transformation, by changing the estimate of the relative position, the error of the two magnetic field measurements representing the fluxgate sensor system can be minimized to obtain an optimal estimate of the relative position, and selecting the positions of different MMP devices can ensure a unique solution of the relative position.
Parameterizing the relative position through three Euler angles (alpha, beta, gamma) to provide rotation information of three axes, wherein the Euler angle of III II III is selected as a representative, in the coordinate rotation transformation expressed by the Euler angles, numbers I, II and III respectively represent rotation around coordinate axes x, y and z, and the sequence from left to right respectively represents first rotation, second rotation and third rotation; as shown in fig. 1, the sensor system comprises a star sensor system 1, a non-magnetic platform 2 and a fluxgate sensor system 3; the XYZ axis is the coordinate axis of the star sensor system 1, X1Y1Z1The axis is a coordinate axis obtained by rotating XYZ axis around Z axis, X2Y2Z2Axis is X1Y1Z1Coordinate axis, X, after rotation of the axis about the Y axis3Y3Z3Axis is X2Y2Z2And the axis is the axis after the axis rotates around the Z axis. Therefore, the transformation matrix RSIM-CSC transformed from the star sensor system 1 to the fluxgate sensor system 3 can be expressed as:
the rotation matrix ri (v) represents the basic rotation of the coordinate system of the i-th axis at the angle v. Thus, the physical vector r in the initial system, in the new system, is represented by:
r′＝Ri(v)r (2)
the method aims to convert a vector measurement value of a REF coordinate system of a reference magnetic sensor into a fluxgate sensor coordinate system, convert the REF coordinate system into a star sensor coordinate system through a traditional ground coordinate system (CTS) and an inertial coordinate system (CIS is also called J2000) through a series of rotation transformation, and finally convert the REF coordinate system into the fluxgate sensor coordinate system.
The rotation change from REF to CTS is determined by the positioning of a REF coordinate system which refers to a global CTS coordinate system, and the REF coordinate system is set as RREF-CTS; this transformation, if customary in geomagnetism, can be expressed as:
RREF-CTS＝R3(-Λ)R2(90°+φ) (3)
phi and lambda are here the longitude and latitude in astronomy of the nominal position; the calibrated reference coordinate system for SAC-C is not the exact NED coordinate system, so there is a more general transformation corresponding to RREF-CTS, in the form of an "iillii" euler angular transformation:
regarding the vector transformation from CIS to CTS:
rCTS＝SNPrCIS (5)
rCTS＝RCIS-CTS rCIS (7)
r in this case2(-xp)R1(-yp) represents correction for polar motion; r3(GAST) represents the rotation of the earth; n and P are corrections for nutation and precession of the earth's rotation axis; the values of polar motion (xp, yp) are from the monthly journal of the international earth rotation service station (IERS); GAST is the greenwich real-time observation table.
The measurement value of the star sensor comprises three angles (Ra, Dec, Rot), and the transformation from a CIS coordinate system to a star sensor coordinate system is given, and the star sensor coordinate system is connected with a CCD plane of a star sensor camera; the transformation from the CIS coordinate system (J2000) to the star sensor coordinate system is as follows:
RCIS-SIM＝R3(Rot)R2(90°-Dec)R3(Ra) (8)
the transformation from the REF coordinate system to the fluxgate sensor coordinate system can be represented by the following matrix:
RREF-CSC＝RSIM-CSCRCIS-SIMRCTS-CISRREF-CTS (9)
RREF-CSC＝R3(γ)R2(β)R3(α)RCIS-SIMRCTS-CISRREF-CTS (10)
the middle position of the two matrixes RCIS-SIM and RCTS-CIS on the right side of the formula (9) can change along with the change of the measured value, however, since the star sensor and the fluxgate sensor system are fixed on the platform and the reference magnetic sensor is also fixed in the CTS frame, the initial value and the final value are both constant. .
For each set of measurements, a matrix may be established, such as in the form of equation (9), which may be used to transform the measurements from the REF coordinate system to the fluxgate sensor coordinate system. The parameters (α, β, γ) and (χ, ζ, η) will change as Levenberg-Marquardt least squares calculations are performed on the residual vector L, which is shown below:
here, O is the offset of the magnetic field between the reference magnetic sensor and the calibration leg. This offset can either be eliminated by setting it as a parameter or can be chosen to be a fixed value that is preset.
As an embodiment of the invention, the gyrotheodolite does not depend on auxiliary conditions such as star observation, laser calibration and the like, so that the calibration effect in a closed space is larger; the working principle is as follows: the gyroscope is mainly composed of a rotor rotating at a high speed and supported on one or two frames, and is called a two-degree-of-freedom gyroscope with one frame; the gyroscope is a three-degree-of-freedom gyroscope with an inner frame and an outer frame; the suspended gyroscope is arranged on the theodolite, the north direction of a true meridian is determined by utilizing the north-pointing property of the suspended gyroscope, and the theodolite is used for determining a horizontal angle between the north direction of the true meridian and the undetermined direction, namely a true azimuth angle; the north-seeking property refers to the characteristic that under the influence of gravity and the rotational angular velocity of the earth, a suspended person performs precession and gradually approaches to a true son surface, and finally performs angular simple harmonic motion by taking the true son surface as a symmetrical center. Common methods for determining the north direction of the true meridian include a celestial method and a turning point method; in a word, the gyrotheodolite can accurately measure the accurate true north direction, and the current accuracy can reach sub-arc second level; by the method, the included angle relation between the magnetic axis of the magnetic sensor and the terrestrial coordinate system can be obtained, and based on the known included angle relation, the relation between the magnetic axis of the standard magnetic source coil isomagnetic field and the terrestrial coordinate system can be measured in relevant test requirements.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (1)
1. A magnetic field azimuth measuring method comprises the following steps,
the device comprises a vector magnetic sensor and other sensors related to the celestial body coordinate system, wherein the vector magnetic sensor and the other sensors are arranged on a rigid platform which is made of non-remanent magnetism and non-magnetic conductive materials;
secondly, the vector magnetic sensor and other sensors are combined to measure relevant physical quantities to construct a relation with a celestial body coordinate system, and then the relation of the included angle between the measuring shaft of the vector magnetic sensor and the measuring shaft of other sensors is measured by means of the relation between a celestial body magnetic field and the celestial body coordinate system, so that the relation between the coordinate system of the vector magnetic sensor and the Euler angle of the coordinate shafts of other sensors is calibrated;
thirdly, the included angle relationship between the vector magnetic sensor and the coordinate axes of other sensors can be realized through calibration, the Euler angles (alpha, beta and gamma) of the vector magnetic sensor and the coordinate systems of other sensors are confirmed, and the relative relationship between the vector magnetic sensor and an antenna coordinate system can be measured in real time through the direction confirmation function of other sensors, so that the test of the magnetic field axis of a standard magnetic source coil or the magnetic field direction of a focus area can be realized;
the vector magnetic sensor is a fluxgate sensor, and the other sensor is a star sensor;
in the third step, by utilizing the measured value of the star sensor, theoretical knowledge about earth rotation and estimation of relative positioning between the fluxgate sensor and the star sensor, the measured value of the reference magnetic sensor is converted into a coordinate system of the fluxgate sensor from the reference coordinate system through rotation and coordinate transformation and is expressed, and by changing the estimated value of the relative position, the error of the measured values of the two magnetic fields representing the fluxgate sensor system can be minimized, so as to obtain the optimal estimation of the relative position, and the positions of different MMP devices are selected to ensure the unique solution of the relative position;
and converting the vector measurement value of the REF coordinate system of the reference magnetic sensor into the fluxgate sensor coordinate system, converting the REF coordinate system into the star sensor coordinate system through the traditional ground coordinate system and the inertial coordinate system through a series of rotation transformation, and finally converting into the fluxgate sensor coordinate system.
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| CN110006460B (en) * | 2019-05-09 | 2020-10-02 | 上海微小卫星工程中心 | Relative calibration method and system for star sensor and magnetometer |
| CN111239838B (en) * | 2020-01-16 | 2022-04-12 | 哈尔滨工业大学 | Detection method for magnetic detection precision |
| CN113866692A (en) * | 2021-10-26 | 2021-12-31 | 北京卫星环境工程研究所 | Extremely weak remanence measurement system and measurement method for spacecraft component |
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