CN109407159A - A kind of earth magnetism total factor sensor attitude error calibration method - Google Patents
A kind of earth magnetism total factor sensor attitude error calibration method Download PDFInfo
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- CN109407159A CN109407159A CN201811348134.7A CN201811348134A CN109407159A CN 109407159 A CN109407159 A CN 109407159A CN 201811348134 A CN201811348134 A CN 201811348134A CN 109407159 A CN109407159 A CN 109407159A
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
Abstract
The present invention provides a kind of earth magnetism total factor sensor attitude error calibration method, comprising: S1 measures earth magnetism total factor sensor attitude angle of deflection and measurement point earth's magnetic field F；S2 successively each leads into equal in magnitude, contrary electric current into first coil C1, measures magnetic deflection field F respectivelyI+And FI‑；S3 successively each leads into equal in magnitude, contrary electric current into the second coil C2, measures magnetic deflection field F respectivelyD+And FD‑；S4 calculates the variable quantity correction value delta I ' of magnetic dip angle1With the variable quantity correction value delta D ' of magnetic declination1；S5 calculates magnetic dip angle corrected value I and magnetic declination corrected value D, updating formula I=I0+ΔI′1, D=D0+ΔD′1.Beneficial effects of the present invention: solve the problems, such as that earth magnetism total factor sensor attitudes vibration in measurement causes measurement accuracy low, land surveying field when earth magnetism total factor sensor being made to can be applied to marine field, aviation field and attitudes vibration.
Description
Technical field
The present invention relates to magnetic-field measurement field more particularly to a kind of earth magnetism total factor sensor attitude error calibration methods.
Background technique
Referring to FIG. 9, earth's magnetic field is vector field, it is by resultant field T, horizontal component H, north component X, east component Y, vertically
Component Z, inclination obliquity I, this seven element compositions of declination D.Relative to traditional geomagnetic total field observation and three-component observation, earth magnetism
Total factor includes more Magnetic Fields, being capable of accurate image study Properties of Objects.It in practical applications, need to be according to difference
Scene choose suitable magnetic field parameter.In addition, geomagnetic element data can be used for the drafting of geomagnetic chart, the research of paleomagnetism,
The monitoring etc. of space weather.Therefore, high-precision geomagnetic element data are to exploration geological structure and the origin of earth, the global magnetic of foundation
Field model and research cosmic space are most important.
For at present, geomagnetic sensor can be divided into vector sensor and total field sensor according to measurement method.Arrow
Quantity sensor is broadly divided into three classes: the first kind is using fluxgate sensor as representative, such sensor bulk is smaller, can be direct
Ground magnetic tricomponent information is obtained, but there are orthogonal error, temperature drift and the problems such as absolute observations can not be carried out；Second class is magnetic flux
The measurement in a closed series mode that door sensor is combined with theodolite, such magnetometer are also referred to as DI instrument, pass through the optical system of theodolite
System directly reads geomagnetic inclination and drift angle, but can not carry out automatic Observation.Third class is total field sensor and Helmholtz coil
The measurement in a closed series mode that (field homogeneity generator) combines mainly has the methods of FHD, three axial coil methods, ZHD, this kind of sensing
Device is chiefly used in the observation of Geomagnetic Station, and is carrying out ocean, and the measurement in the case of aviation and land attitudes vibration is because of posture
The accuracy that variation will lead to its measured value goes wrong, and limits it in the case of ocean, aviation and land attitudes vibration
Application.Therefore, how to realize that the high-precision integrative measurement of earth magnetism total factor information in the case where attitudes vibration becomes real
The key points and difficulties of existing effect measurement.
Summary of the invention
In view of this, the embodiment provides a kind of earth magnetism total factor sensor attitude error calibration methods.
Fig. 1 and Fig. 2 are please referred to, the embodiment of the present invention provides a kind of earth magnetism total factor sensor attitude error correction side
Method, the earth magnetism total factor sensor include total field sensor and the uniform magnetic field generator around total field sensor, institute
Stating uniform magnetic field generator includes orthogonal first coil C1 and the second coil C2, the first coil C1 and resultant field sensing
Device is placed in magnetic meridian plate, comprising the following steps:
S1 measures the posture angle of deflection of the earth magnetism total factor sensor, the pitching deflection using attitude transducer
Angle α is total field sensor and magnetic meridian plate angle, and uses the earth's magnetic field F of the resultant field sensor measurement measurement point；
S2 successively each leads into equal in magnitude, contrary electric current into the first coil C1, uses the resultant field
Sensor measures magnetic deflection field F respectivelyI+And FI-；
S3 successively each leads into equal in magnitude, contrary electric current into the second coil C2, uses the resultant field
Sensor measures magnetic deflection field F respectivelyD+And FD-；
S4 is according to posture angle of deflection, earth's magnetic field F, magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta of magnetic dip angle
I′1, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1；
S5 calculates magnetic dip angle corrected value I and magnetic declination corrected value D, updating formula I=I0+ΔI′1, D=D0+ΔD′1, I0
For the reference magnetic dip angle of measurement point, D0For the reference magnetic declination of measurement point.
It further, further include that S6 calculates the earth magnetism of measurement point according to magnetic dip angle corrected value I and magnetic declination corrected value D
Total factor.
Further, the attitudes vibration of the earth magnetism total factor sensor includes that pitching variation, horizontal variation and overturning become
Change.
Further, when the earth magnetism total factor sensor attitude pitching changes, the posture angle of deflection is that pitching is inclined
Corner, i.e., described total field sensor and the magnetic meridian plate angle, in the step S4 according to posture angle of deflection, earth's magnetic field F,
Magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta I ' of magnetic dip angle1Circular are as follows:
Equal in magnitude, contrary electric current is each led into the first coil C1, is generated respectively contrary big
Small identical bias magnetic field, bias magnetic field size are A 'I, it is superimposed with earth's magnetic field F, forms magnetic deflection field FI+And FI-, determined by cosine
Li Ke get
FI+ 2=A 'I 2+F2-2A′IFcos(α2) (1)
FI- 2=A 'I 2+F2+2A′IFcos(α2) (2)
Wherein, α2For the bias magnetic field and the angle in earth's magnetic field at this time after attitudes vibration, it is added and is asked with (2) formula by (1) formula
Out
And it finds out
IfIt is available by Taylor expansion
It can be obtained by geometrical relationship
It is found out by (5) formula and (6) formula
Magnetic dip angle variable quantity is a small value, obtains α by geometrical relationship2≈α1+α0(8)
Whereinα1For if the bias magnetic field of electric current generation is passed through before attitudes vibration to the first coil C1
With earth's magnetic field angle at this time,
Δ I '=cos (α then can be obtained by (4) formula and (7)2)-α (9)
Δ I '=cos (α1+α0)-α (10)
Direct compensation falls α, available Δ I '=cos (α1+α0) (11)
α190 ° of ≈, Δ I ' can be obtained according to trigonometric function relationship1=-sin (α0)。 (12)
Further, inclined according to posture in the step S4 when the earth magnetism total factor sensor attitude pitching changes
Corner α, earth's magnetic field F, magnetic deflection field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1Calculation method and magnetic dip angle
Variable quantity correction value delta I '1Calculation method it is identical, calculate
Further, when the earth magnetism total factor sensor attitude level changes, the posture angle of deflection is horizontal inclined
Corner, i.e., described total field sensor and magnetic meridian angle, according to posture angle of deflection, earth's magnetic field F, deflection in the step S4
Magnetic field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1Circular are as follows:
Equal in magnitude, contrary electric current is each led into the second coil C2, is generated respectively contrary big
Small identical bias magnetic field, bias magnetic field size are A 'D, it is superimposed with earth's magnetic field F, forms magnetic deflection field FD+And FD-, determined by cosine
Li Ke get:
FD+ 2=A 'D 2+F2-2A′DFcos(α2) (13)
FD- 2=A 'D 2+F2+2A′DFcos(α2) (14)
Wherein, α2For the bias magnetic field and the angle in earth's magnetic field at this time after attitudes vibration, it is added by (13) formula with (14) formula
It finds out
It calculates
Δ D ' is obtained to (16) formula abbreviation and after compensating1=-sin (α0) (17)
Wherein
Further, inclined according to posture in the step S4 when the earth magnetism total factor sensor attitude level changes
Corner α, earth's magnetic field F, magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta I ' of magnetic dip angle1Calculation method and magnetic declination
Variable quantity correction value delta D '1The calculation method of calculating is identical,
Further, when the earth magnetism total factor sensor attitude overturns and changes, the variable quantity correction value delta of magnetic dip angle
I′1Calculation method and magnetic declination variable quantity correction value delta D '1Calculation method with the earth magnetism total factor sensor attitude
It is identical when pitching is with level variation, it calculates
The technical solution that the embodiment of the present invention provides has the benefit that a kind of earth magnetism total factor sensing of the present invention
Device attitude error rectification method, the posture pitching being likely encountered according to earth magnetism total factor sensor when base station type measures, level
Classified calculating is carried out with three kinds of situations of change of overturning, obtains magnetic dip angle variable quantity corrected value and magnetic declination variable quantity corrected value, it is right
Measurement result carries out algorithm compensation, obtains more accurate measurement value, solves earth magnetism total factor sensor posture in measurement
Change the problem for causing measurement accuracy low, earth magnetism total factor sensor is made to can be applied to marine field, aviation field, Yi Jizi
Land surveying field when state changes.
Detailed description of the invention
Fig. 1 is a kind of flow chart of earth magnetism total factor sensor attitude error calibration method of the present invention；
Fig. 2 is earth magnetism total factor sensor measurement model figure；
Fig. 3 is earth magnetism total factor sensor attitude pitching variation front and back schematic diagram；
Fig. 4 is earth magnetism total factor sensor attitude pitching variation front and back magnetic dip angle variable quantity situation of change schematic diagram；
Fig. 5 is earth magnetism total factor sensor attitude level variation front and back schematic diagram；
Fig. 6 is earth magnetism total factor sensor attitude level variation front and back magnetic declination variable quantity situation of change schematic diagram；
Fig. 7 is earth magnetism total factor sensor attitude overturning variation front and back schematic diagram；
Fig. 8 is earth magnetism total factor sensor attitude overturning variation front and back magnetic dip angle variable quantity situation of change schematic diagram；
Fig. 9 is the geometrical relationship figure of earth magnetism total factor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Referring to FIG. 1, the embodiment provides a kind of earth magnetism total factor sensor attitude error calibration method, institute
The uniform magnetic field generator that earth magnetism total factor sensor includes total field sensor and circular total field sensor is stated, it is described uniform
Magnetic field generator includes that orthogonal first coil C1 and the second coil C2, the first coil C1 and total field sensor are placed
In magnetic meridian plate, comprising the following steps:
S1 measures the posture angle of deflection of the earth magnetism total factor sensor using attitude transducer, and using described total
The earth's magnetic field F of field sensor measurement measurement point；
S2 successively each leads into equal in magnitude, contrary electric current into the first coil C1, uses the resultant field
Sensor measures magnetic deflection field F respectivelyI+And FI-；
S3 successively each leads into equal in magnitude, contrary electric current into the second coil C2, uses the resultant field
Sensor measures magnetic deflection field F respectivelyD+And FD-；
S4 is according to pitching angle of deflection, earth's magnetic field F, magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta of magnetic dip angle
I′1, according to horizontal deflection angle α, earth's magnetic field F, magnetic deflection field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1；
S5 calculates magnetic dip angle corrected value I and magnetic declination corrected value D, updating formula I=I0+ΔI′1, D=D0+ΔD′1, I0
For the reference magnetic dip angle of measurement point, D0For the reference magnetic declination of measurement point；
S6 calculates the earth magnetism total factor of measurement point according to magnetic dip angle corrected value I and magnetic declination corrected value D.
The attitudes vibration of the earth magnetism total factor sensor includes pitching variation, horizontal variation and overturning variation, is divided below
The above method is explained in detail in class:
Referring to FIG. 3, left figure indicates the measuring state schematic diagram before the earth magnetism total factor sensor attitude pitching variation,
Right figure indicates the measuring state schematic diagram after the earth magnetism total factor sensor attitude pitching variation, passes in the earth magnetism total factor
When sensor posture pitching changes, the posture deflection angle is that α is pitching deflection angle, i.e., described total field sensor and the magneton noon
Face angle, according to pitching angle of deflection, earth's magnetic field F, magnetic deflection field F in step S4I+And FI-Calculate the variable quantity school of magnetic dip angle
Positive value delta I '1Circular are as follows:
Referring to FIG. 4, each leading into equal in magnitude, contrary electric current into the first coil C1, generate respectively
The identical bias magnetic field of contrary sizeWithBias magnetic field size is A 'I, it is superimposed with earth's magnetic field F, forms deflection magnetic
Field FI+And FI-, can be obtained by the cosine law
FI+ 2=A 'I 2+F2-2A′IFcos(α2) (1)
FI- 2=A 'I 2+F2+2A′IFcos(α2) (2)
Wherein, α2For the bias magnetic field and earth's magnetic field F, angle at this time after attitudes vibration, earth's magnetic field F, by described first
The preceding earth's magnetic field F of coil C1 energization is influenced by bias magnetic field when being powered, and slightly deflects generation
It is added and is found out with (2) formula by (1) formula
And it finds out
IfIt is available by Taylor expansion
It can be obtained by the geometrical relationship in Fig. 4
It is found out by (5) formula and (6) formula
Since magnetic dip angle variation delta I is a small value, α is obtained by geometrical relationship2≈α1+α0(8)
α is the horizontal deflection angle radian value of earth magnetism total factor sensor, α0It is indicated for the angle of α,
I.e.α1If for before attitudes vibration to the first coil C1 be passed through electric current generation bias magnetic field with
Earth's magnetic field angle at this time,
Δ I '=cos (α then can be obtained by (4) formula and (7)2)-α (9)
Δ I '=cos (α1+α0)-α (10)
Since pitching angle of deflection is measured value, it can be fallen with direct compensation, obtain Δ I '=cos (α1+α0) (11)
Due to α190 ° of ≈, Δ I ' can be obtained according to trigonometric function relationship1=-sin (α0)。 (12)
When the earth magnetism total factor sensor only carries out posture pitching variation in magnetic meridional plane, second coil
C2 can generate relative movement, but since the earth magnetism total factor sensor is only deviated in magnetic meridional plane, so institute
State the bias magnetic field A ' of the second coil C2 generationDStill perpendicular to magnetic meridional plane, when being calculated using integral measurement method
It will not influence the variable quantity correction value delta D ' of magnetic declination1Calculated result, so second described in when being deviated on magnetic meridional plane
The error that the variation of coil C2 not will lead to magnetic declination variation delta D generates.
According to pitching angle of deflection, earth's magnetic field F, magnetic deflection field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1
The variable quantity correction value delta I ' of calculation method and above-mentioned magnetic dip angle1Calculation method it is identical, the variable quantity of magnetic declination can be calculated
Corrected valueThe variable quantity correction value delta D ' of magnetic declination1Magnetic declination variable quantity before changing with posture pitching
Δ D formula is consistent.
Referring to FIG. 5, left figure indicates the measuring state schematic diagram before the earth magnetism total factor sensor attitude level variation,
Right figure indicates the measuring state schematic diagram after the earth magnetism total factor sensor attitude level variation, passes in the earth magnetism total factor
When sensor posture level changes, the posture angle of deflection is horizontal deflection angle, i.e., described total field sensor and magnetic meridian press from both sides
Angle, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field F in the step S4D+And FD-Calculate the variable quantity school of magnetic declination
Positive value delta D '1Circular are as follows:
Referring to FIG. 6, each leading into equal in magnitude, contrary electric current into the second coil C2, generate respectively
The identical bias magnetic field of contrary sizeWithBias magnetic field size is A 'D, it is superimposed with earth's magnetic field F, forms deflection magnetic
Field FD+And FD-, it can be obtained by the cosine law:
FD+ 2=A 'D 2+F2-2A′DFcos(α2) (13)
FD- 2=A 'D 2+F2+2A′DFcos(α2) (14)
It is added and is found out with (14) formula by (13) formula
It calculates
It, to (16) formula abbreviation, and is compensated available using with formula (5), (6) and (7) identical operation method
ΔD′1=-sin (α0) (17)
When the earth magnetism total factor sensor carries out the variation of posture level in magnetic meridional plane, the first coil C1
Relative movement can be generated, but since the earth magnetism total factor sensor only carries out horizontal variation in magnetic meridional plane, so
The bias magnetic field A ' that the first coil C1 is generatedIIt is still parallel to magnetic meridional plane, it can't variation delta I to magnetic dip angle
It has an impact, so the variation of the first coil C2 not will lead to magnetic dip angle variation delta I when deviating on magnetic meridional plane
Error generate.
In earth magnetism total factor sensor attitude level variation, according to horizontal deflection angle α, earth magnetism in the step S4
Field F, magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta I ' of magnetic dip angle1Calculation method and magnetic declination variable quantity correct
It is worth Δ D '1The calculation method of calculating is identical,The variable quantity correction value delta I ' of magnetic dip angle1With posture level
Magnetic dip angle variation delta I formula and consistent before changing.
Fig. 7 and Fig. 8 are please referred to, left figure indicates that the measuring state before the earth magnetism total factor sensor attitude overturning variation shows
It is intended to, right figure indicates the measuring state schematic diagram after the earth magnetism total factor sensor attitude overturning variation, complete in the earth magnetism
When the overturning variation of essential sensor posture, the first coil C1 and the second coil C2 can be moved, but described first
Coil C1 is in the bias magnetic field A ' generated that is poweredIStill be parallel to magnetic meridional plane, will not variation delta I to magnetic dip angle generate
It influences, and the bias magnetic field A ' that the second coil C2 energization generatesDIt, will not be to magnetic declination still perpendicular to magnetic meridional plane
Variation delta D has an impact, and pitching deflection angle and X deflection angle at this time is 0, uses posture pitching and horizontal change
Change identical calculation method, the variable quantity correction value delta I ' of magnetic dip angle can be calculated1With the variable quantity correction value delta of magnetic declination
D′1:
After obtaining carrying out magnetic dip angle and magnetic declination variable quantity after algorithm correction to attitudes vibration, according to the ginseng of measurement point
Examine inclination obliquity I0And refer to declination D0, with reference to inclination obliquity I0Declination D can be examined with ginseng0It can be inquired according to the coordinate of measurement point
It arrives, the magnetic dip angle corrected value I and magnetic declination corrected value D of current measurement point is calculated.Specific formula for calculation is as follows:
I=I0+ΔI′1
D=D0+ΔD′1
Please refer to figure, 9, earth's magnetic field is vector field, by resultant field T, horizontal component H, north component X, east component Y, vertically
Component Z, inclination obliquity I, this seven element compositions of declination D.Coordinate system chooses x-axis along the direction of geographic meridian, is directed toward geographical
Due north, y-axis are directed toward geographical due east, z-axis is vertically downward along the direction of latitude circle.The direction of resultant field T is BO, the projection in x-axis
For north component X, on the y axis be projected as east component Y, vertical component Z is projected as in z-axis, in horizontal plane xBz plane
Be projected as horizontal component H；Vertical plane zBO where resultant field T is magnetic meridional plane, geographical meridian plane and magnetic meridional plane
Angle (xBA) is declination D, and the angle (ABO) between horizontal plane and resultant field T is magnetic dip angle.
It can be obtained according to the geometrical relationship of geomagnetic element according to magnetic dip angle corrected value I and magnetic declination corrected value D is calculated
Required all magnetic field elements, i.e.,
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of earth magnetism total factor sensor attitude error calibration method, the earth magnetism total factor sensor include total field sensor
With the uniform magnetic field generator around total field sensor, the uniform magnetic field generator include orthogonal first coil C1 and
Second coil C2, the first coil C1 and total field sensor are placed in magnetic meridian plate characterized by comprising
S1 measures the posture angle of deflection of the earth magnetism total factor sensor using attitude transducer, and is passed using the resultant field
The earth's magnetic field F of sensor measurement measurement point；
S2 successively each leads into equal in magnitude, contrary electric current into the first coil C1, is sensed using the resultant field
Device measures magnetic deflection field F respectivelyI+And FI-；
S3 successively each leads into equal in magnitude, contrary electric current into the second coil C2, is sensed using the resultant field
Device measures magnetic deflection field F respectivelyD+And FD-；
S4 is according to posture angle of deflection, earth's magnetic field F, magnetic deflection field FI+And FI-Calculate the variable quantity correction value delta I ' of magnetic dip angle1,
According to posture angle of deflection, earth's magnetic field F, magnetic deflection field FD+And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1；
S5 calculates magnetic dip angle corrected value I and magnetic declination corrected value D, updating formula I=I0+ΔI′1, D=D0+ΔD′1, I0To survey
Measure the reference magnetic dip angle of point, D0For the reference magnetic declination of measurement point.
2. a kind of earth magnetism total factor sensor attitude error calibration method as described in claim 1, it is characterised in that: also wrap
It includes, S6 calculates the earth magnetism total factor of measurement point according to magnetic dip angle corrected value I and magnetic declination corrected value D.
3. a kind of earth magnetism total factor sensor attitude error calibration method as described in claim 1, it is characterised in that: describedly
The attitudes vibration of magnetic total factor sensor includes pitching variation, horizontal variation and overturning variation.
4. a kind of earth magnetism total factor sensor attitude error calibration method as claimed in claim 3, it is characterised in that: described
When earth magnetism total factor sensor attitude pitching changes, the posture deflection angle is that α is pitching deflection angle, i.e., described total field sensor
With the magnetic meridian plate angle, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field F in the step S4I+And FI-It calculates
The variable quantity correction value delta I ' of magnetic dip angle1Circular are as follows:
Equal in magnitude, contrary electric current is each led into the first coil C1, generates contrary size phase respectively
Same bias magnetic field, bias magnetic field size are A 'I, it is superimposed with earth's magnetic field F, forms magnetic deflection field FI+And FI-, can by the cosine law
?
FI+ 2=A 'I 2+F2-2A′IFcos(α2) (1)
FI- 2=A 'I 2+F2+2A′IFcos(α2) (2)
Wherein, α2For the bias magnetic field and the angle in earth's magnetic field at this time after attitudes vibration, it is added and is found out with (2) formula by (1) formula
And it finds out
IfIt is available by Taylor expansion
It can be obtained by geometrical relationship
It is found out by (5) formula and (6) formula
Magnetic dip angle variable quantity is a small value, obtains α by geometrical relationship2≈α1+α0 (8)
Whereinα1If to be passed through the bias magnetic field and this that electric current generates to the first coil C1 before attitudes vibration
When geomagnetic total field angle,
Δ I '=cos (α then can be obtained by (4) formula and (7)2)-α (9)
Δ I '=cos (α1+α0)-α (10)
Direct compensation falls α, available Δ I '=cos (α1+α0) (11)
α190 ° of ≈, Δ I ' can be obtained according to trigonometric function relationship1=-sin (α0)。 (12)
5. a kind of earth magnetism total factor sensor attitude error calibration method as claimed in claim 4, it is characterised in that: described
When earth magnetism total factor sensor attitude pitching changes, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field F in the step S4D+
And FD-Calculate the variable quantity correction value delta D ' of magnetic declination1The variable quantity correction value delta I ' of calculation method and magnetic dip angle1Calculating
Method is identical, calculates
6. a kind of earth magnetism total factor sensor attitude error calibration method as claimed in claim 3, it is characterised in that: described
Earth magnetism total factor sensor attitude level change when, the posture angle of deflection be horizontal deflection angle, i.e., described total field sensor with
Magnetic meridian angle, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field F in the step S4D+And FD-Calculate magnetic declination
Variable quantity correction value delta D '1Circular are as follows:
Equal in magnitude, contrary electric current is each led into the second coil C2, generates contrary size phase respectively
Same bias magnetic field, bias magnetic field size are A 'D, it is superimposed with earth's magnetic field F, forms magnetic deflection field FD+And FD-, can by the cosine law
:
Wherein, α2For the bias magnetic field and the angle in earth's magnetic field at this time after attitudes vibration, it is added and is found out with (14) formula by (13) formula
It calculates
Δ D ' is obtained to (16) formula abbreviation and after compensating1=-sin (α0) (17)
Wherein
7. a kind of earth magnetism total factor sensor attitude error calibration method as claimed in claim 6, it is characterised in that: described
When earth magnetism total factor sensor attitude level changes, according to posture angle of deflection, earth's magnetic field F, magnetic deflection field F in the step S4I+
And FI-Calculate the variable quantity correction value delta I ' of magnetic dip angle1Calculation method and magnetic declination variable quantity correction value delta D '1It calculates
Calculation method is identical,
8. a kind of earth magnetism total factor sensor attitude error calibration method as claimed in claim 7, it is characterised in that: described
When the overturning variation of earth magnetism total factor sensor attitude, the variable quantity correction value delta I ' of magnetic dip angle1Calculation method and magnetic declination
Variable quantity correction value delta D '1Calculation method with the earth magnetism total factor sensor attitude pitching and horizontal generate variation phase
Together, it calculates
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| CN112130229A (en) * | 2020-08-21 | 2020-12-25 | 中国地质大学（武汉） | Coil vector magnetometer out-of-levelness error electrical detection system and method |
| CN113608273A (en) * | 2021-08-12 | 2021-11-05 | 中国地质大学（武汉） | Geomagnetic daily variation error correction method for coil type vector magnetometer |
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