CN108873086B - A method of using geomagnetic total field gradient array to locating magnetic objects - Google Patents
A method of using geomagnetic total field gradient array to locating magnetic objects Download PDFInfo
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Abstract
The invention belongs to earth magnetism detection technology fields, and in particular to a method of using geomagnetic total field gradient array to locating magnetic objects, comprising the following steps: the sensor array that building is made of seven scalar Magnetic Sensors；According to the sensor array, it is based on magnetic dipole far field model, establishes the relationship of geomagnetic total field gradient Yu magnetic target position coordinates and magnetic moment vector；The solution parameter member that disappears is reduced to three using matrixing by the relationship of the geomagnetic total field gradient and magnetic target position coordinates and magnetic moment vector；Fitness function is established, the minimum value of above-mentioned fitness function is calculated with particle swarm algorithm, solves target position.Resolution ratio is relatively high, can position to weak magnetic target, orientation distance is remote, range is big.It is designed by special algorithm, as long as without real-time measurement and each sensor attitude can be compensated, simplicity is quickly to avoid optical pumped magnetometer dead zone direction when the measurement of rapid solving positioning equation.
Description
Technical field
The invention belongs to earth magnetism detection technology fields, and in particular to a kind of to use geomagnetic total field gradient array to magnetic target
The method of positioning.
Background technique
Earth's magnetic field is a natural physical field of the earth, it has a variety of different origins, by the magnetic of different changing rules
Field ingredient is formed by stacking.It is divided according to location of source, earth's magnetic field can be divided into internal field and external field.If it is considered that earth's magnetic field with
The variation characteristic of time, changing over time faster earth's magnetic field becomes the variation magnetic field of the earth, changes over time relatively slow or base
This constant earth's magnetic field becomes the stabilizing magnetic field of the earth.
One magnetic field generated with magnetic target will lead to the variation of spatially Distribution of Magnetic Field, so as to generate magnetic
It is abnormal.When observation point and target range are greater than 2-3 times of target scale or more, magnetic target is in the magnetic field that observation point generates one
As be counted as magnetic dipole far field.
When to locating magnetic objects, can be used can measure the three-component vector Magnetic Sensor of earth magnetism or can measure ground
The scalar Magnetic Sensor of magnetic resultant field.The installation of vector Magnetic Sensor and use are relative complex, and initial attitude wants critical alignment, and work appearance
State wants real-time measurement.When the angular error of vector Magnetic Sensor is 0.05 °, the earth magnetism error of measurement is about 50nT.Therefore, real
When influence of the compensation vector Magnetic Sensor attitudes vibration to measurement be required, and acquire a certain degree of difficulty.Under normal circumstances, city
Common vector Magnetic Sensor (such as common magnetic flux door magnetometer) resolution ratio is relatively relatively low (relative to scalar optical pumping magnetic force on field
Instrument), therefore the target orientation distance based on vector measurement cannot be too long, target magnetic moment cannot be too small.
In conclusion it is low to exist in the prior art resolution ratio, complexity is installed and used, detection range is close, and detected object is wanted
Ask higher, the problems such as scope of application is small.
Summary of the invention
It is an object of the invention to carry out accurate fast and convenient tracking and positioning to magnetic target.Building is by seven first
The sensor array of scalar Magnetic Sensor (optical pumped magnetometer) composition, is then based on magnetic dipole far field model, it is total to establish earth magnetism
The relationship of field gradient and magnetic target position coordinates and magnetic moment vector.Using matrixing, the solution parameter member that disappears is reduced to three
It is a.Fitness function is established, using particle swarm algorithm to locating magnetic objects.
A method of using geomagnetic total field gradient array to locating magnetic objects, comprising the following steps:
(1) sensor array being made of seven scalar Magnetic Sensors is constructed；
(2) according to the sensor array, it is based on magnetic dipole far field model, establishes geomagnetic total field gradient and magnetic target
The relationship of position coordinates and magnetic moment vector；
(3) according to the relationship of the geomagnetic total field gradient and magnetic target position coordinates and magnetic moment vector, become using matrix
It changes, the solution parameter member that disappears is reduced to three；
(4) fitness function is established, the minimum value of above-mentioned fitness function is calculated with particle swarm algorithm, solves target position
It sets.
It is described to construct the sensor array being made of seven scalar Magnetic Sensors, comprising:
Array center is coordinate origin o, and seven sensors are located in origin and three reference axis, each sensor in array
Coordinate is T0(0,0,0),
To prevent from interfering with each other between sensor, L >=1m；
Wherein, L is the distance of two distal sensors in each reference axis.
It is described that magnetic dipole far field model is based on according to the sensor array, establish geomagnetic total field gradient and magnetic mesh
The relationship of cursor position coordinate and magnetic moment vector, comprising:
Every logo amount Magnetic Sensor measured value TiIt is all geomagnetic normal field BEWith target anomalous field BiSuperimposed resultant field mould,
I.e.
Ti=| BE+Bi|
U=[cos (I0)cos(D0)cos(I0)sin(D0)sin(I0)]=[a b c]
Far field condition statement are as follows:
3LA≤ r, L < r, Bi< BE
Under far field condition:
Ti=| BE+Bi|=BE+U·Bi
Wherein, U BEDirection vector, I0For geomagnetic inclination, D0For geomagnetic declination, BEIt is geomagnetic normal field, BiIt is target
Anomalous field, a=cos (I0)cos(D0), b=cos (I0)sin(D0), c=sin (I0), LAFor the maximum geometric scale of target, r
It is observation point at a distance from target, L is the distance of two distal sensors in each reference axis, BEFor BEMould, BiFor Bi's
Mould.
It is described that magnetic dipole far field model is based on according to the sensor array, establish geomagnetic total field gradient and magnetic mesh
The relationship of cursor position coordinate and magnetic moment vector, comprising:
Enable (xA,yA,zA) it is target position, (xi,yi,zi) it is the position sensor i, it obtains:
It enables:
Ti=BE+ω·UPiM
Ti=BE+ω(QiMx+SiMy+HiMz)
Wherein, BiIt is target anomalous field, Bix、Biy、BizIt is BiCartesian component, Mx、My、MzIt is target magnetic moment vector M
Cartesian component,
Qi=afi 11+b·fi 21+c·fi 31,Si=afi 12+b·fi 22+c·fi 32,Hi=afi 13+b·
fi 23+c·fi 33。
The relationship according to the geomagnetic total field gradient and magnetic target position coordinates and magnetic moment vector, is become using matrix
It changes, the solution parameter member that disappears is reduced to three, comprising:
In seven sensors, three groups of sensors are selected, every group is made of two Magnetic Sensors i and j, i, j=0, and 1,
2......6.The difference DELTA T of every group of measurement value sensorij=Ti-Tj, and these three difference linear independences；
The position coordinates of magnetic moment component magnetic target are indicated:
Geomagnetic total field measured value TiGradient Gi:
The geomagnetic total field gradient value G of origin o0Are as follows:
Wherein,U is BEDirection vector, Mx、My、MzIt is the cartesian component of target magnetic moment vector M, Gix、
Giy、GizIt is GiCartesian component.
It is described to establish fitness function, the minimum value of above-mentioned fitness function is calculated with particle swarm algorithm, solves target position
It sets, comprising:
Under the far field situation of L < < r, each sensor synchro measure obtains Δ T12、ΔT34、ΔT56, origin earth magnetism can be obtained
Resultant field gradiometry valueWhereinIt isCartesian component,
It is obvious:
Establish the expression formula of fitness function F necessary to PSO Algorithm are as follows:
Wherein, L is the distance of two distal sensors in each reference axis, and r is observation point at a distance from target, It isCartesian component.
The beneficial effects of the present invention are:
Resolution ratio is relatively high, can position to weak magnetic target, orientation distance is remote, range is big.It is set by special algorithm
Meter, as long as can be every without real-time measurement and compensation to avoid optical pumped magnetometer dead zone direction when the measurement of rapid solving positioning equation
A sensor attitude, it is easy to be quick.
Detailed description of the invention
Fig. 1 is geomagnetic total field gradiometry array junctions composition.
Fig. 2 is sensor measurement difference DELTA T20With target position xARelation curve.
Fig. 3 is sensor measurement difference DELTA T40With target position xARelation curve.
Fig. 4 is sensor measurement difference DELTA T60With target position xARelation curve.
Fig. 5 is the magnetic method positioning result of moving target.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
It is an object of the invention to carry out accurate fast and convenient tracking and positioning to magnetic target.Building is by seven first
The sensor array of scalar Magnetic Sensor (optical pumped magnetometer) composition, is then based on magnetic dipole far field model, it is total to establish earth magnetism
The relationship of field gradient and magnetic target position coordinates and magnetic moment vector.Using matrixing, the solution parameter member that disappears is reduced to three
It is a.Fitness function is established, using particle swarm algorithm to locating magnetic objects.
The present invention provides the methods of a kind of pair of locating magnetic objects, constitute space battle array using multiple scalar Magnetic Sensors
Column measure geomagnetic total field gradient, by the algorithm that specially designs to locating magnetic objects.The algorithm passes through to geomagnetic total field gradient
Matrix is converted, variables separation and the magnetic moment vector for eliminating target, with Target space position coordinate representation target magnetic moment vector
The member that disappears of six unknown numbers in magnetic field gradient equation is reduced to three by three-component.The fitness function about magnetic field gradient is established,
Target position is solved using particle swarm algorithm.Method to locating magnetic objects proposed by the invention, measurement accuracy is high, visits
From remote, positioning is quickly, easy to operate reliable for ranging.A kind of new method is provided for the positioning of magnetic method target.For underground and under water
The magnetic target acquisition positioning such as archaeology, pipe inspection, energy mineral reserve survey, clearance is antisubmarine and identification provide reference, have and centainly answer
Use meaning.
This method constructs geomagnetic total field gradiometry array with seven scalar Magnetic Sensors, devises target positioning and calculates
Method proposes a kind of new method for solving, accurately can quickly position to magnetic target.
(1) according to shown in attached drawing 1, with seven scalar Magnetic Sensor forming arrays.Array center is coordinate origin o, seven sensings
Device is located in origin and three reference axis, symmetry arrangement.Two distal sensors are apart L in each reference axis.It is respectively sensed in array
The coordinate of device is T0(0,0,0),
(2) location algorithm equation group is established.Its process is: being based on above-mentioned array, establishes measurement value sensor and magnetic mesh
Cursor position vector sum magnetic moment vector relationship, as shown in formula (3).Using matrixing, magnetic moment vector is indicated with target location coordinate
Three-component, as shown in (6) formula.The member that disappears of six unknown numbers in (3) formula about target magnetic moment and position is reduced to three, is obtained
To the resultant field gradient equations group that can be solved, as shown in formula (12).The fitness function about geomagnetic total field gradient is established, such as formula
(13) shown in.(3) PSO Algorithm geomagnetic total field gradiometry array equation group is applied, key link is using particle
Group's algorithm calculates the minimum value of above-mentioned fitness function, solves target position and realizes target positioning.In array in each reference axis
There are minimum value limitations by two sensor spacing L of distal end.There are minimum values by L, by preset target magnetic moment, orientation range and determine
Position precision substitutes into fitness function (13) formula, solves L minimum value.And there are another necessary condition, that is, the working sensor that uses
When there are micro electromagnetic radiation, to prevent from interfering with each other, the distance between any two sensor be not less than 0.5m.
When constructing array using the sensor that the present invention selects and use array, it is only necessary to avoid optical pumping Magnetic Sensor dead zone side
To without real-time measurement and each Magnetic Sensor posture of compensation.Therefore the object localization method is easy quickly.
Magnetic method detection tool in terms of underground and the exploration of underwater mineral reserve, pipeline monitoring, archaeology, wreck surveying, clearance
There is important application meaning.Because it is abnormal that above-mentioned target generates one's respective area earth's magnetic field, thus may be implemented with earth magnetism matching technique
Target positioning and identification.In petroleum-based energy exploration field also through being used as auxiliary exploration means frequently with earth magnetism Detection Techniques.It is defending
In the navigation applications such as star, aircraft, naval vessel, submarine, vehicle, geomagnetic auxiliary navigation provides a kind of very important method and way
Diameter.Before and after the generation of the natural calamities such as volcano, earthquake, tsunami, magnetic storm, magnetic anomaly phenomenon are frequently accompanied by generation, this is to disaster
Centralized positioning and forecast provide possible technological approaches.Therefore magnetic method location technology has wide application field.The present invention mentions
Out a kind of can be applied to above-mentioned technical field using method of the geomagnetic total field gradient to locating magnetic objects.
Earth's magnetic field is a natural physical field of the earth, it has a variety of different origins, by the magnetic of different changing rules
Field ingredient is formed by stacking.It is divided according to location of source, earth's magnetic field can be divided into internal field and external field.If it is considered that earth's magnetic field with
The variation characteristic of time, changing over time faster earth's magnetic field becomes the variation magnetic field of the earth, changes over time relatively slow or base
This constant earth's magnetic field becomes the stabilizing magnetic field of the earth.
One magnetic field generated with magnetic target will lead to the variation of spatially Distribution of Magnetic Field, so as to generate magnetic
It is abnormal.When observation point and target range are greater than 2-3 times of target scale or more, magnetic target is in the magnetic field that observation point generates one
As be counted as magnetic dipole far field.
When to locating magnetic objects, can be used can measure the three-component vector Magnetic Sensor of earth magnetism or can measure ground
The scalar Magnetic Sensor of magnetic resultant field.The installation of vector Magnetic Sensor and use are relative complex, and initial attitude wants critical alignment, and work appearance
State wants real-time measurement.When the angular error of vector Magnetic Sensor is 0.05 °, the earth magnetism error of measurement is about 50nT.Therefore, real
When influence of the compensation vector Magnetic Sensor attitudes vibration to measurement be required, and acquire a certain degree of difficulty.Under normal circumstances, city
Common vector Magnetic Sensor (such as common magnetic flux door magnetometer) resolution ratio is relatively relatively low (relative to scalar optical pumping magnetic force on field
Instrument), therefore the target orientation distance based on vector measurement cannot be too long, target magnetic moment cannot be too small.
According to the present invention is a kind of method using geomagnetic total field gradient array to locating magnetic objects.The mark of use
It is relatively high to measure Magnetic Sensor (optical pumped magnetometer) resolution ratio, weak magnetic target can be positioned, orientation distance is remote, range is big.It is logical
Special algorithm design is crossed, it can be with rapid solving positioning equation.As long as avoiding optical pumped magnetometer dead zone direction when measurement, without real
When measure and compensate each sensor attitude, it is easy quickly.This surveys in energy mineral reserve, underground and underwater line monitoring and maintenance,
Archaeology, air crash shipwreck, which are searched and rescued, clearance is antisubmarine etc. certain application value.
It is an object of the invention to carry out accurate fast and convenient tracking and positioning to magnetic target.Building is by seven first
The sensor array of scalar Magnetic Sensor (optical pumped magnetometer) composition, is then based on magnetic dipole far field model, it is total to establish earth magnetism
The relationship of field gradient and magnetic target position coordinates and magnetic moment vector.Using matrixing, the solution parameter member that disappears is reduced to three
It is a.Fitness function is established, using particle swarm algorithm to locating magnetic objects.
The technical scheme is that realized by following steps:
Step 1: with seven scalar Magnetic Sensor Ti(i=0,1,2......6) building such as attached drawing 1
Shown in magnetic spy array.The origin of array co-ordinates system is o, and x-axis forward direction is directed toward north geographic pole, and y-axis forward direction refers to east,
Z-axis is positive downwards, is right-handed helix system.The rectangular co-ordinate of each Magnetic Sensor is T in array0(0,0,0), Each seat
Two distal sensors are apart L on parameter, to prevent from interfering with each other between sensor, L >=1m.
Step 2: each Magnetic Sensor synchro measure, each measured value TiIt is all geomagnetic normal field BEWith target anomalous field Bi
Superimposed resultant field mould, i.e. Ti=| BE+Bi|.Enable BEMould be BE, BEIt changes over time, this variation is in local space
It is interior, it is believed that be synchronous constant amplitude.Enabling U is BEDirection vector, I0And D0For geomagnetic inclination and drift angle, then enable a=cos (I0)
cos(D0), b=cos (I0)sin(D0), c=sin (I0),
Obtain U=[cos (I0)cos(D0)cos(I0)sin(D0)sin(I0)]=[a b c].Bix、Biy、BizIt is BiRight angle
Coordinate components, BiFor BiMould.The maximum geometric scale of target is LA, observation point is r at a distance from target.Far field condition can be with
It is expressed as 3LA≤ r, L < < r, Bi< < BEDeng.Therefore
Ti=| BE+Bi|≈BE+U·Bi (1)
The magnetic field B that magnetic target generates at sensor i is indicated with magnetic dipole far field modeli:
In formula (2): μ0=4 π × 10-7H/m is the magnetic conductivity in vacuum.Enable (xA,yA,zA) it is target position, (xi,yi,
zi) it is the position sensor i,Mx、My、MzIt is mesh
The cartesian component of magnetic moment vector M is marked,It enables
It enablesIt is another againIt is obtained by (1) and (2) formula
Ti=BE+ω·UPiM (3)
Qi=afi 11+b·fi 21+c·fi 31,Si=afi 12+b·fi 22+c·fi 32,Hi=afi 13+b·
fi 23+c·fi 33。
Formula (3) can be rewritten as: Ti=BE+ω(QiMx+SiMy+HiMz) (4)
Step 3: in seven sensors, three groups of sensors are selected, every group is made of two Magnetic Sensors i and j, i, j=
0,1,2......6.The difference DELTA T of every group of measurement value sensorij=Ti-Tj.Selection principle is to guarantee Δ Tij、ΔT12、ΔT34、
ΔT56This six difference linear independences.According to (3) formula, citing selects following three groups of differences:
As it can be seen that Δ TijIn eliminate geomagnetic normal field BE, BEIt is the function of time, so Δ TijNot at any time by earth's magnetic field
The influence of variation.(5) formula of transformation, indicates the position coordinates of magnetic moment component magnetic target are as follows:
At sensor i, geomagnetic total field measured value TiGradient GiIt is defined by (7) formula, wherein Gix、Giy、GizIt is GiIt is straight
Angular coordinate component, i=0,1,2......6.
(4) formula is substituted into (7) formula:It will
(6) formula substitutes into (8) formula:
According to (9) formula, the geomagnetic total field gradient value G of origin o0Are as follows:
Step 4: under the far field situation of L < < r, each sensor synchro measure obtains Δ T12、ΔT34、ΔT56.It can obtain
Origin geomagnetic total field gradiometry valueWhereinIt isCartesian component.
Simultaneous (10) and (11) two formulas, it is clear that
Vector equation (12) formula is with target position (xA,yA,zA) be unknown number high-order equation with three unknowns group, contain there are three
Scalar equation, constraint condition is complete, has determine solution in three-dimensional space, and the number of solution is limited, can eliminate part according to the actual situation
Puppet solution.Establish the expression formula of fitness function F necessary to PSO Algorithm are as follows:
Using the minimum value of PSO Algorithm fitness function F, realizes and target is positioned.And then it substitutes into (6) formula and asks
Target magnetic moment is solved, target can tentatively be identified.
Fig. 1 geomagnetic total field gradiometry array junctions composition
Fig. 2 sensor measurement difference DELTA T20With target position xARelation curve
Fig. 3 sensor measurement difference DELTA T40With target position xARelation curve
Fig. 4 sensor measurement difference DELTA T60With target position xARelation curve
The magnetic method positioning result of Fig. 5 moving target
Carry out target positioning experiment in Harbin City, certain littoral suburb, Song Hua River, environmental magnetic field data is measured, to test
Journey illustrates embodiment of the present invention.
Geomagnetic total field gradiometry array as shown in Figure 1, sensor resolution are constructed with CS-L optical pumping Magnetic Sensor
0.6pT, highest sample rate 10Hz, measurement range 15000nT-105000nT.Array parameter L=1m, coordinate system x-axis where array
Forward direction is directed toward north geographic pole, and y-axis forward direction refers to east, and z-axis is positive downwards.Local geomagnetic inclination 1.10rad, geomagnetic declination-
0.18rad.Magnetic target (permanent magnet) magnetic moment size is 152Am2, magnetic moment inclination angle 1.13rad, magnetic moment drift angle is -0.18rad,
Target geometric scale 143mm × 120mm × 40mm.Magnetic moment direction remains unchanged in target motion process.Target initial position
(3.4m, 4.21m, 0m) is moved in a straight line, final position (- 2.1m, 4.21m, 0m) along x-axis direction is parallel to.
During the motion, each sensor synchro measure geomagnetic total field of array, sensor sample rate selects 5Hz, meter to target
Calculate the difference Δ T of origin sensor measured value of sensor respectively and on three negative semiaxis of reference axis20, Δ T40, Δ T60.Three differences
Value is with target position xAVariation difference it is as shown in Figure 2, Figure 3, Figure 4.Wherein blue dotted line indicates magnetic method theory difference, via public affairs
Formula (5) is calculated.Red circle point indicates the difference obtained through sensor actual measurement.It can be seen that theoretical curve and practical survey
Amount point coincide substantially.
When target moves to a certain position (xA,yA,zA), Δ T is calculated according to sensor synchronism output data20、ΔT40、
ΔT60、ΔT12、ΔT34、ΔT56.Formula (10) and (11) are substituted into respectively, obtain G0x、G0y、G0zExpression formula and Value.It willG0x、G0y、G0zIt substitutes into formula (13), obtains containing target position (xA,yA,zA) it is suitable
Response function F.Using Matlab population tool box, the minimum value of fitness function F is sought, solves magnetic target position (xA,
yA,zA), realize target positioning.
Fig. 5 is the experimental result that this method positions moving target.Blue circles point is target actual positions, red circle
Point is magnetic method position location.From starting point (3.4m, 4.21m, 0m) to terminal (- 2.1m, 4.21m, 0m) linear motion, mesh
Cursor position xAFrom 2.4m to -2.1m, a magnetic method positioning is carried out at interval of 0.5m, is amounted to 10 times.Positioning result shows: this method
It is 143mm × 120mm × 40mm, magnetic moment 152Am to size2Magnetic movement target, 4.21m it is vertical on to mesh
The horizontal circular error probable CEP for demarcating position is equal to 0.287m, and localization method is feasible.
Claims (5)
1. it is a kind of using geomagnetic total field gradient array to the method for locating magnetic objects, which comprises the following steps:
(1) sensor array being made of seven scalar Magnetic Sensors is constructed；
(2) according to the sensor array, it is based on magnetic dipole far field model, establishes geomagnetic total field gradient and magnetic target position
The relationship of coordinate and magnetic moment vector；
(3) according to the relationship of the geomagnetic total field gradient and magnetic target position coordinates and magnetic moment vector, using matrixing,
It solves the parameter member that disappears and is reduced to three；
In seven sensors, three groups of sensors are selected, every group is made of two Magnetic Sensors i and j, i, j=0, and 1,
2......6；The difference DELTA T of every group of measurement value sensorij=Ti-Tj, and these three difference linear independences；
Wherein: U is geomagnetic normal field BEDirection vector；μ0=4 π × 10-7H/m is the magnetic conductivity in vacuum；Mx、
My、MzIt is the cartesian component of target magnetic moment vector M；PiCalculation formula are as follows:
Wherein: (xA, yA, zA) it is target position, (xi, yi, zi) it is the position sensor i；
The position coordinates of magnetic moment component magnetic target are indicated:
Geomagnetic total field measured value TiGradient Gi:
Qi=afi 11+b·fi 21+c·fi 31
Si=afi 12+b·fi 22+c·fi 32
Hi=afi 13+b·fi 23+c·fi 33
A=cos (I0)cos(D0), b=cos (I0)sin(D0), c=sin (I0)；
Wherein: I0For geomagnetic inclination；D0For geomagnetic declination；Gix、Giy、GizIt is GiCartesian component；
Origin O geomagnetic total field gradient value G0Are as follows:
；
(4) fitness function is established, the minimum value of above-mentioned fitness function is calculated with particle swarm algorithm, solves target position.
2. it is according to claim 1 it is a kind of using geomagnetic total field gradient array to the method for locating magnetic objects, feature
It is: the sensor array that building is made of seven scalar Magnetic Sensors in the step (1), comprising:
Array center is coordinate origin o, and seven sensors are located in origin and three reference axis, and the coordinate of each sensor is T in array0
(0,0,0),
To prevent from interfering with each other between sensor, L >=1m；
Wherein, L is the distance of two distal sensors in each reference axis.
3. it is according to claim 1 it is a kind of using geomagnetic total field gradient array to the method for locating magnetic objects, feature
It is, according to the sensor array in the step (2), is based on magnetic dipole far field model, establishes geomagnetic total field gradient
With the relationship of magnetic target position coordinates and magnetic moment vector, comprising:
Every logo amount Magnetic Sensor measured value TiIt is all geomagnetic normal field BEWith target anomalous field BiSuperimposed resultant field mould, i.e.,
Ti=| BE+Bi|
U=[cos (I0)cos(D0) cos(I0)sin(D0) sin(I0)]=[a b c]
Far field condition statement are as follows:
3LA≤ r, L < r, Bi< BE
Under far field condition:
Ti=| BE+Bi|=BE+U·Bi
Wherein, LAFor the maximum geometric scale of target, r is observation point at a distance from target, and L is two distal ends in each reference axis
The distance of sensor, BEFor BEMould, BiFor BiMould.
4. it is according to claim 3 it is a kind of using geomagnetic total field gradient array to the method for locating magnetic objects, feature
It is: according to the sensor array in the step (2), is based on magnetic dipole far field model, establishes geomagnetic total field gradient
With the relationship of magnetic target position coordinates and magnetic moment vector, comprising:
It enables:
Ti=BE+ω·UPiM
Ti=BE+ω(QiMx+SiMy+HiMz)
Wherein, Bix、Biy 、BizIt is BiCartesian component.
5. it is according to claim 1 it is a kind of using geomagnetic total field gradient array to the method for locating magnetic objects, feature
It is: establishes fitness function in the step (4), the minimum value of above-mentioned fitness function is calculated with particle swarm algorithm, is asked
Solve target position, comprising:
Under the far field situation of L < < r, each sensor synchro measure obtains Δ T12、ΔT34、ΔT56, origin geomagnetic total field can be obtained
Gradiometry valueWhereinIt isCartesian component,
Establish the expression formula of fitness function F necessary to PSO Algorithm are as follows:
Wherein, L is the distance of two distal sensors in each reference axis, and r is observation point at a distance from target, It isCartesian component.
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| CN110361683B (en) * | 2019-07-17 | 2021-06-18 | 哈尔滨工程大学 | Magnetometer correction method based on dual-objective-function particle group optimization |
| CN110824570B (en) * | 2019-10-28 | 2021-07-27 | 杭州电子科技大学 | Body magnetism correction method of three-axis magnetic sensor |
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