CN109521384A - A kind of vector magnetic compensation method based on atom magnetometer - Google Patents
A kind of vector magnetic compensation method based on atom magnetometer Download PDFInfo
- Publication number
- CN109521384A CN109521384A CN201710847770.3A CN201710847770A CN109521384A CN 109521384 A CN109521384 A CN 109521384A CN 201710847770 A CN201710847770 A CN 201710847770A CN 109521384 A CN109521384 A CN 109521384A
- Authority
- CN
- China
- Prior art keywords
- vector
- magnetic field
- magnetic
- magnetometer
- atom magnetometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
- G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Measuring Magnetic Variables (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention belongs to magnetic detection technical field, in particular to a kind of vector magnetic compensation method based on atom magnetometer.This method includes modeling to vector magnetic disturbance, obtains true magnetic field scalar, obtains magnetometer survey value under current intelligence, solving model coefficient and true four steps of Vector Magnetic Field of calculating.The present invention relates to the compensation methodes in vector disturbance magnetic field in vector magnetic detection, specifically based on vector atom magnetometer magnetic anomaly detection system application in using the method for the present invention can effective compensation Vector Magnetic Field interference, improve detection system detection data precision.Method of the invention is suitable for the magnetic anomaly detection system built using vector atom magnetometer.Method of the invention can be applied to the vector magnetic anomaly detection system that compensation is mounted on ground carrier, air carrier and underwater carrier.Especially suitable in the magnetic anomaly detection application to the underwater, water surface and ground ferromagnetism target.
Description
Technical field
The invention belongs to magnetic detection technical field, in particular to a kind of vector magnetic compensation method based on atom magnetometer.
Background technique
With the development of magnetic sensor technologies, magnetic anomaly detection method etc., magnetic anomaly detection technology is from scalar, scalar
Gradient develops to gradient of vector detection direction, and the full tensor magnetic spy based on gradient of vector dive technology, passes through three, earth's magnetic field of measurement
The gradient magnetic of vector component in three directions, building include the full tensor information of nine gradient of vector fields, compared to scalar ladder
Degree detection obtains magnetic anomaly information more abundant and represents magnetic spy survey technology of new generation so that detection efficient be substantially improved
Developing direction, but its shortage for facing highly sensitive small size vector magnetometer, and the difficulty of development that full tensor baseline is shorter.
Vector atom magnetometer has the characteristics that small in size, low in energy consumption, high resolution, can meet well vector type and
The requirement of gradient of vector type magnetic anomaly detection equipment.Vector magnetic anomaly detection system is constructed based on vector atom magnetometer,
The full tensor magnetic anomaly detection system of Long baselines can be constructed by multiple system space networkings, so that magnetic anomaly detection energy be substantially improved
Power, this method are a kind of completely new technological approaches, and it is horizontal can be obviously improved detection of the China in magnetic anomaly detection field.
Summary of the invention
Presently, there are aiming at the problem that, propose a kind of vector magnetic based on vector atom magnetometer and scalar atom magnetometer
Compensation method improves vector magnetic by realizing vector magnetic disturbance real-time compensation to magnetic disturbance modeling, model coefficient adaptive learning
The detectivity of detection system.
In order to realize the purpose, the technical solution adopted by the present invention is that:
Step 1: being modeled to vector magnetic disturbance
The magnetic field that vector atom magnetometer detects can be represented by the formula:
WhereinIndicate the three axial vector atom magnetometers output of measurement；CnoIndicate vector atom magnetometer nonorthogonality
Error；CsfIndicate the scale factor error of vector atom magnetometer；CsiIt is expressed as system soft magnetism error, bbExpression system Hard Magnetic misses
Difference and zero bias；wbFor white noise；hrIt is expressed as true magnetic field value；
Step 2: obtaining true magnetic field scalar
The scalar expression for obtaining true magnetic field is changed to formula (1):
In formula:For Scalar Magnetic Field；
If C=(CnoCsfCsi)-1, then above formula can indicate are as follows:
Step 3: obtaining magnetometer survey value under current intelligence
Earth's magnetic field is held essentially constant within more times, especially carries out high-altitude when system is mounted in the flight carriers such as unmanned plane
When flight, geomagnetic field variation range very little.Control system carries out the rotation and swing of different directions, record arrow under stabilizing magnetic field
Measure atom magnetometer measured value；
Step 4: solving model coefficient
The objective function for establishing optimization for formula (3) and the approximate constant characteristic of Scalar Magnetic Field is shown below,
The unknowm coefficient in formula (4) is solved using the magnetic field data combination optimum estimation method that step (3) record；
Step 5: calculating true Vector Magnetic Field
True Vector Magnetic Field value can be obtained by following formula using the penalty coefficient acquired:
The invention has the benefit that
The present invention relates to the compensation methodes in vector disturbance magnetic field in vector magnetic detection, are specifically being based on vector
Atom magnetometer magnetic anomaly detection system application in using the method for the present invention can effective compensation Vector Magnetic Field interference, improve visit
Examining system detection data precision.Method of the invention is suitable for the magnetic anomaly detection system built using vector atom magnetometer.
Method of the invention can be applied to the vector magnetic anomaly detection that compensation is mounted on ground carrier, air carrier and underwater carrier
System.Especially suitable in the magnetic anomaly detection application to the underwater, water surface and ground ferromagnetism target.
Detailed description of the invention
Fig. 1 is the functional block diagram of the method for the present invention；
Fig. 2 is compensation result contrast schematic diagram.
Specific embodiment
The specific embodiment of the invention is as follows:
A kind of vector magnetic compensation method based on atom magnetometer of the invention, including vector magnetic disturbance is modeled,
True magnetic field scalar is obtained, magnetometer survey value under current intelligence, solving model coefficient and the true Vector Magnetic Field four of calculating are obtained
A step, specific as follows:
Step 1: being modeled to vector magnetic disturbance
The magnetic field that vector atom magnetometer detects can be represented by the formula:
WhereinIndicate the three axial vector atom magnetometers output of measurement；CnoIndicate vector atom magnetometer nonorthogonality
Error；CsfIndicate the scale factor error of vector atom magnetometer；CsiIt is expressed as system soft magnetism error, bbExpression system Hard Magnetic misses
Difference and zero bias；wbFor white noise；hrIt is expressed as true magnetic field value；
Step 2: obtaining true magnetic field scalar
The scalar expression for obtaining true magnetic field is changed to formula (1):
In formula:For Scalar Magnetic Field；
If C=(CnoCsfCsi)-1, then above formula can indicate are as follows:
Step 3: obtaining magnetometer survey value under current intelligence
Earth's magnetic field is held essentially constant within more times, especially carries out high-altitude when system is mounted in the flight carriers such as unmanned plane
When flight, geomagnetic field variation range very little.Control system carries out the rotation and swing of different directions, record arrow under stabilizing magnetic field
Atom magnetometer measured value is measured, by taking unmanned plane carrier as an example, can carry out that pitching is motor-driven, roll is motor-driven, course maneuvering and meets
Motor-driven, motor-driven angle records vector atom magnetometer measured value at 10 degree or so；
Step 4: solving model coefficient
The objective function for establishing optimization for formula (3) and the approximate constant characteristic of Scalar Magnetic Field is shown below,
The unknowm coefficient in formula (4) is solved using the magnetic field data combination optimum estimation method that step (3) record；
Step 5: calculating true Vector Magnetic Field
True Vector Magnetic Field value can be obtained by following formula using the penalty coefficient acquired:
The present invention is described further in the following with reference to the drawings and specific embodiments:
Fig. 2 is compensation result contrast schematic diagram, and as can be seen from the figure the method for the present invention can be with effective compensation vector magnetic anomaly
Error in normal detection process, realizes vector magnetic compensation.
In practical engineering applications, through repeatedly practice have shown that, realize by above-mentioned compensation method to vector magnetic anomaly detection
The compensation of system detectable signal, effectively increases the quality of data of vector magnetic anomaly detection system.
Claims (6)
1. a kind of vector magnetic compensation method based on atom magnetometer, it is characterised in that: this method include to vector magnetic disturbance into
Row modeling, obtains true magnetic field scalar, obtains magnetometer survey value under current intelligence, solving model coefficient and the true vector of calculating
Four, magnetic field step.
2. a kind of vector magnetic compensation method based on atom magnetometer as described in claim 1, it is characterised in that: the step
Rapid one, vector magnetic disturbance is modeled, the magnetic field that vector atom magnetometer detects can be represented by the formula:
WhereinIndicate the three axial vector atom magnetometers output of measurement；CnoIndicate vector atom magnetometer nonorthogonality error；
CsfIndicate the scale factor error of vector atom magnetometer；CsiIt is expressed as system soft magnetism error, bbExpression system Hard Magnetic error and
Zero bias；wbFor white noise；hrIt is expressed as true magnetic field value.
3. a kind of vector magnetic compensation method based on atom magnetometer as described in claim 1, it is characterised in that: the step
Two, true magnetic field scalar is obtained, the scalar expression for obtaining true magnetic field is changed to formula (1):
In formula:For Scalar Magnetic Field；
If C=(CnoCsfCsi)-1, then above formula can indicate are as follows:
4. a kind of vector magnetic compensation method based on atom magnetometer as described in claim 1, it is characterised in that: the step
Three, magnetometer survey value under current intelligence is obtained, earth's magnetic field is held essentially constant within more times, especially when system is mounted in nothing
When man-machine equal flight carriers carry out high-altitude flight, geomagnetic field variation range very little, control system carries out difference under stabilizing magnetic field
The rotation and swing in direction record vector atom magnetometer measured value.
5. a kind of vector magnetic compensation method based on atom magnetometer as described in claim 1, it is characterised in that: the step
Four, solving model coefficient, the objective function for establishing optimization for formula (3) and the approximate constant characteristic of Scalar Magnetic Field are as follows
Shown in formula, the unknowm coefficient in formula (4) is asked using the magnetic field data combination optimum estimation method that step (3) record
Solution；
6. a kind of vector magnetic compensation method based on atom magnetometer as described in claim 1, it is characterised in that: the step
Five, true Vector Magnetic Field is calculated, true Vector Magnetic Field value can be obtained by following formula using the penalty coefficient acquired:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710847770.3A CN109521384A (en) | 2017-09-19 | 2017-09-19 | A kind of vector magnetic compensation method based on atom magnetometer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710847770.3A CN109521384A (en) | 2017-09-19 | 2017-09-19 | A kind of vector magnetic compensation method based on atom magnetometer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109521384A true CN109521384A (en) | 2019-03-26 |
Family
ID=65769424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710847770.3A Pending CN109521384A (en) | 2017-09-19 | 2017-09-19 | A kind of vector magnetic compensation method based on atom magnetometer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109521384A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110361683A (en) * | 2019-07-17 | 2019-10-22 | 哈尔滨工程大学 | Magnetometer bearing calibration based on two-objective programming particle group optimizing |
| CN110568384A (en) * | 2019-08-27 | 2019-12-13 | 中国科学院武汉物理与数学研究所 | active magnetic compensation method for ultra-sensitive atomic magnetometer |
| CN111220932A (en) * | 2019-11-21 | 2020-06-02 | 北京自动化控制设备研究所 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
| CN112213678A (en) * | 2020-10-27 | 2021-01-12 | 中国人民解放军海军工程大学 | Three-axis data correction and compensation method for vector magnetic detector |
| CN113728365A (en) * | 2019-04-17 | 2021-11-30 | 阿勒特系统公司 | Electronic anti-theft system and method |
| CN115727936A (en) * | 2022-11-07 | 2023-03-03 | 北京自动化控制设备研究所 | Magnetic Johnson noise testing device based on atomic sensing |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007098204A1 (en) * | 2006-02-17 | 2007-08-30 | Baker Hughes Incorporated | Compensation of magnetic influence in a mwd system |
| CN104237958A (en) * | 2014-09-29 | 2014-12-24 | 陕西宝成航空仪表有限责任公司 | Geomagnetic field vector measuring error correcting method on basis of track constraints |
| CN105676302A (en) * | 2015-11-12 | 2016-06-15 | 东南大学 | Magnetometer random noise error compensation method based on improved least square method |
| CN106885997A (en) * | 2017-02-20 | 2017-06-23 | 上海微小卫星工程中心 | The method that spaceborne magnetometer interference compensation is carried out in earth's magnetic field |
| CN107024674A (en) * | 2017-05-26 | 2017-08-08 | 北京航空航天大学 | A kind of magnetometer method for quick field calibration based on least square method of recursion |
-
2017
- 2017-09-19 CN CN201710847770.3A patent/CN109521384A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007098204A1 (en) * | 2006-02-17 | 2007-08-30 | Baker Hughes Incorporated | Compensation of magnetic influence in a mwd system |
| CN104237958A (en) * | 2014-09-29 | 2014-12-24 | 陕西宝成航空仪表有限责任公司 | Geomagnetic field vector measuring error correcting method on basis of track constraints |
| CN105676302A (en) * | 2015-11-12 | 2016-06-15 | 东南大学 | Magnetometer random noise error compensation method based on improved least square method |
| CN106885997A (en) * | 2017-02-20 | 2017-06-23 | 上海微小卫星工程中心 | The method that spaceborne magnetometer interference compensation is carried out in earth's magnetic field |
| CN107024674A (en) * | 2017-05-26 | 2017-08-08 | 北京航空航天大学 | A kind of magnetometer method for quick field calibration based on least square method of recursion |
Non-Patent Citations (1)
| Title |
|---|
| 龙礼 等: ""姿态检测地磁传感器误差分析与补偿方法"", 《中国惯性技术学报》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113728365A (en) * | 2019-04-17 | 2021-11-30 | 阿勒特系统公司 | Electronic anti-theft system and method |
| CN113728365B (en) * | 2019-04-17 | 2024-01-05 | 阿勒特系统公司 | Electronic anti-theft system and method |
| US12051310B2 (en) | 2019-04-17 | 2024-07-30 | Checkpoint Systems Espana, S.L.U. | Electronic theft-preventing system and method |
| CN110361683A (en) * | 2019-07-17 | 2019-10-22 | 哈尔滨工程大学 | Magnetometer bearing calibration based on two-objective programming particle group optimizing |
| 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 |
| CN110568384A (en) * | 2019-08-27 | 2019-12-13 | 中国科学院武汉物理与数学研究所 | active magnetic compensation method for ultra-sensitive atomic magnetometer |
| CN110568384B (en) * | 2019-08-27 | 2020-08-18 | 中国科学院武汉物理与数学研究所 | Active magnetic compensation method for ultra-sensitive atomic magnetometer |
| CN111220932A (en) * | 2019-11-21 | 2020-06-02 | 北京自动化控制设备研究所 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
| CN111220932B (en) * | 2019-11-21 | 2022-01-11 | 北京自动化控制设备研究所 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
| CN112213678A (en) * | 2020-10-27 | 2021-01-12 | 中国人民解放军海军工程大学 | Three-axis data correction and compensation method for vector magnetic detector |
| CN112213678B (en) * | 2020-10-27 | 2022-03-25 | 中国人民解放军海军工程大学 | Three-axis data correction and compensation method for vector magnetic detector |
| CN115727936A (en) * | 2022-11-07 | 2023-03-03 | 北京自动化控制设备研究所 | Magnetic Johnson noise testing device based on atomic sensing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109521384A (en) | A kind of vector magnetic compensation method based on atom magnetometer | |
| CN107272069B (en) | Magnetic target method for tracing based on magnetic anomaly gradient | |
| CN110095738A (en) | Magnetic gradiometer Parameters design | |
| CN107515621A (en) | The patrol UAV flight path control method perceived based on transmission line of electricity electromagnetism | |
| CN111504318B (en) | Ocean navigation auxiliary method based on multi-magnetic dipole inversion | |
| CN113156355B (en) | Magnetic interference compensation method of superconducting full tensor magnetic gradient measuring device | |
| CN113739795B (en) | Underwater synchronous positioning and mapping method based on polarized light/inertia/vision integrated navigation | |
| Shockley | Ground vehicle navigation using magnetic field variation | |
| CN103926627A (en) | Underwater carrier geomagnetic three-component measuring method | |
| CN110082611B (en) | Positioning method of electric field measuring device | |
| CN109725361B (en) | Magnetic target positioning method based on invariant of magnetic gradient tensor | |
| CN105509737A (en) | Airborne motion platform magnetic disturbance compensation method without influence of geomagnetic variation | |
| Ge et al. | Aeromagnetic compensation algorithm robust to outliers of magnetic sensor based on Huber loss method | |
| CN109814163A (en) | A kind of boat magnetic tensor data noise restraint method and system based on extension compensation model | |
| CN109856690A (en) | Aeromagnetic tensor data noise restraint method and system based on mixing norm fitting | |
| CN118191687B (en) | Self-adaptive triaxial fluxgate magnetic interference compensation method in time-varying noise environment | |
| Ning et al. | Improved MEMS magnetometer adaptive filter noise reduction and compensation method | |
| Chou et al. | Two‐step optimal filter design for the low‐cost attitude and heading reference systems | |
| CN113917544A (en) | Near-surface target position rapid delineation method based on magnetic gradient tensor eigenvalue | |
| Mu et al. | Small Signal Magnetic Compensation Method for UAV-Borne Vector Magnetometer System | |
| Wan et al. | Improved component compensation for geomagnetic field vector measurement using Lagrange multiplier method | |
| CN108061922B (en) | A kind of distribution magnetic anomaly detection system dynamic magnetic compensation method | |
| Birsan | Inversion of magnetic dipole parameters using a scalar field gradiometer | |
| CN108919368B (en) | System and method for eliminating residual magnetic interference of microsatellite | |
| CN106919785B (en) | It is a kind of that online compensation method in magnetic field is interfered based on the carrier of ground magnetic vector and particle filter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190326 |
|
| WD01 | Invention patent application deemed withdrawn after publication |