CN109579827A - A kind of magnetic target detection and localization method based on arcuate array - Google Patents
A kind of magnetic target detection and localization method based on arcuate array Download PDFInfo
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- CN109579827A CN109579827A CN201811582515.1A CN201811582515A CN109579827A CN 109579827 A CN109579827 A CN 109579827A CN 201811582515 A CN201811582515 A CN 201811582515A CN 109579827 A CN109579827 A CN 109579827A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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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
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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Abstract
The magnetic target detection and localization method that the present invention relates to a kind of based on arcuate array, in the method, the arc-shaped arrangement of magnetic field sensor, it combines to form different angle array group by the sensor optimization at different location, different angle array group realizes the detection and positioning of large-scale target, medium-sized target and precision target respectively.The present invention is suitable for underwater security and guards against field, and the detection and positioning for realizing various types target can be taken into account in the case of not needing to be arranged a large amount of magnetic field sensors, and algorithm adaptability is good, and efficiency-cost ratio is high.
Description
Technical field
The present invention relates to target acquisition technical fields in water, more particularly to are visited using target magnetic characteristic in water to it
The method surveyed and positioned.
Background technique
Under water, it can be detected and be positioned by the features such as the sound field of target, electromagnetic field and optics in water, be realized underwater
Security alert.For target in most of water, because it is manufactured by metal, per se with fixed magnetic field, while in earth's magnetic field
Induced magnetic field can be generated under effect, may be implemented to detect and position using its magnetic signature signal.
Currently, locating magnetic objects algorithm has gradient tensor method and all kinds of state estimation algorithms, it is desirable that sensor arrangement position
It sets and is set separately according to different size magnetic target.For all kinds of state estimation algorithms, it is also necessary to meet magnetic mesh
Premise known to the preliminary size and location of target.For target in water, under using the array of single-mode arrangement, benefit
It is difficult to take into account the detection and positioning of the big Small object of various types with conventional method.
Summary of the invention
It is an object of the invention to overcome existing magnetic target detection and the numerous magnetic field sensings of localization method number required
Device, while the shortcomings that be difficult to take into account various types big small target detection requirement, propose a kind of magnetic mesh based on arcuate array
Mark detection and localization method.Number of sensors needed for this method is less, and can be realized respectively by the combination of different sensors
The detection and positioning of large-scale target, medium-sized target and precision target, algorithm adaptability is good, while being able to satisfy required precision, is based on
The system structure that this method is built is simplified, and efficiency-cost ratio is high.
The detection of the specific technical solution of the present invention magnetic target that there is provided a kind of based on arcuate array and localization method,
Characterized by the following steps:
Step 1: all magnetic field sensor real-time data collections, in any sampling instant, judge whether there is three with
The magnetic-field measurement exceptional value of upper magnetic field sensor is greater than detection threshold, and then judgement has target in water to occur if it exists, executes step
2, otherwise continue to execute step 1；
Step 2: according to the number of magnetic field sensor, 3 sensor settings of predetermined condition will be met in magnetic field sensor
For a sensor array group, multiple sensor array groups are formed, according to array of magnetic field group is formed by, are based on magnetic field
Gradient tensor method carries out the position of target and magnetic moment in water and calculates, and obtains the position of target and magnetic moment initial value in a series of water, and
Estimate the magnitude range of target and location section in water；
Step 3: the magnitude range of target and location section in the water obtained according to step 2 estimation, it is random to generate
The position of target and magnetic moment value in one group of water, the position of target and the common shape of magnetic moment initial value in a series of water obtained with step 2
The Magnetic oriented initial solution of Cheng Shuizhong target；
Step 4: three maximum fields measured using magnetic field sensor measure exceptional value as foundation, the magnetic obtained with step 3
Field positioning initial solution carries out optimizing as population primary, using evolutionary optimization algorithm, obtains target in the water of current sample time
Position and magnetic moment parameter；
Step 5: next sampling instant is arrived, the position of target and magnetic moment parameter in water are obtained according to step 4, it is random to generate
The position of target and magnetic moment value form population primary in one group of water, carry out optimizing using evolutionary optimization algorithm, obtain present sample
The position of target and magnetic moment parameter in the water at moment；
Step 6: the magnetic-field measurement exceptional value for judging whether there is at least three magnetic field sensors is greater than detection threshold, if still
So exist, then repeatedly otherwise step 5 judges that target disappears in water, return step 1.
A kind of magnetic target detection and localization method based on arcuate array proposed by the present invention, has the advantage that
(1) magnetic field sensor quantity is few, and system is simple, and cost is relatively low；
(2) the sensor optimization combination at different location is suitable for the detection and location requirement of different type target, positioning
Accuracy of identification is high.
Detailed description of the invention
Fig. 1 is the schematic illustration of magnetic field sensor arcuate array arrangement proposed by the present invention.
Fig. 2 is the cross arrangement of magnetic field sensor used in magnetic gradient measurements conventional method.
Fig. 3 is magnetic field sensor three kinds of simple arrangements proposed by the present invention for magnetic gradient measurements.
Specific embodiment
Technical solution of the present invention is further described with reference to the accompanying drawing.
In the present embodiment, it is described by taking the sensor using 9 arc-shaped arrangements as an example, in 9 sensors, fixed point is adopted
With one, in addition 4 are each side arranged for 8, bilateral symmetry.By taking left side as an example, C1, L2 and L4 composition include 120 degree of tops
The triangle at angle, L2, R2 and C1 composition include the triangle of 120 degree of apex angles, and C1, L4, R4 composition include the triangle of 60 degree of apex angles
Shape.Preferably, it arranges in each sensor of camber, is at least capable of forming the sensor group comprising 90,60 and 120 degree of apex angles
Each one.
Magnetic target detection of the invention and localization method specifically includes the following steps:
Step 1: all magnetic field sensor real-time data collections, in any sampling instant, judge whether there is three with
The magnetic-field measurement exceptional value of upper magnetic field sensor is greater than detection threshold, and then judgement has target in water to occur if it exists, executes step
2, otherwise continue to execute step 1；
Step 2: being a sensor by 3 sensor settings for meeting predetermined condition according to the number of magnetic field sensor
Array group forms multiple sensor array groups, according to being formed by array of magnetic field group, based on magnetic field gradient Tensor Method into
The position of target and magnetic moment calculate in row water, obtain the position of target and magnetic moment initial value in a series of water, and estimate target in water
Magnitude range and the location of section；
Step 3: the magnitude range of target and location section in the water obtained according to step 2 estimation, it is random to generate
The position of target and magnetic moment value in one group of water, the position of target and the common shape of magnetic moment initial value in a series of water obtained with step 2
The Magnetic oriented initial solution of Cheng Shuizhong target；
Step 4: three maximum fields measured using magnetic field sensor measure exceptional value as foundation, the magnetic obtained with step 3
Field positioning initial solution carries out optimizing as population primary, using evolutionary optimization algorithm, obtains target in the water of current sample time
Position and magnetic moment parameter；
Step 5: next sampling instant is arrived, the position of target and magnetic moment parameter in water are obtained according to step 4, it is random to generate
The position of target and magnetic moment value form population primary in one group of water, carry out optimizing using evolutionary optimization algorithm, obtain present sample
The position of target and magnetic moment parameter in the water at moment；
Step 6: the magnetic-field measurement exceptional value for judging whether there is at least three magnetic field sensors is greater than detection threshold, if still
So exist, then repeatedly otherwise step 5 judges that target disappears in water, return step 1.
In step 2, target acquisition is carried out using improved gradient tensor method and the sensor combinations mode proposed to determine
Detailed process is as follows for position.
Rule of thumb magnetic target can be considered as a magnetic dipole in far field, it is assumed that three direction dipole moments of magnetic dipole point
It Wei not mx、myAnd mz, the magnetic field strength three-component expression formula under target-based coordinate system at distance objective r (x, y, z) in water are as follows:
In formula:
Magnetic gradient tensor matrix are as follows:
The real-time ranging formula of magnetic target based on some magnetic gradient tensor sum three-component magnetic field in space are as follows:
After magnetic target position has been determined according to above formula, the magnetic moment of magnetic target is calculated further according to following formula, is by magnetic moment
Can the information such as state, type and scale to target judge.
In 9 elements of magnetic gradient tensor, only 5 be it is independent, i.e., need to only obtain 5 individual elements therein,
Complete magnetic gradient tensor matrix just can be obtained.
It is usually necessary to use the sensor that 5 shown in Fig. 2 are in cross distribution, can just obtain terraced to magnetic at center position
Spend tensor sum measurement point magnetic field three-component.No. 1 sensor measurement three-component magnetic field, No. 2, No. 3 measurement y to component variation rate, 4
Number, No. 5 measurement x to component variation rate.Specific calculating formula is as follows.
In formula: d is magnetic field sensor spacing, Hxi、HyiAnd Hzi(i=1~5) are respectively the magnetic field measured at i-th of position
Intensity three-component.
Number of sensors will be too many when in view of using cross distribution, and the present invention becomes according to magnetic field gradient with spatial position
Change the essential characteristic slower than change of magnetic field strength (magnetic gradient), removes two sensors, only with three sensor calculating magnetic fields
Gradient can realize positioning.Specifically, present inventor is only counted by three sensors by deriving to obtain
Calculate the algorithm of magnetic field gradient.
Typically, the present invention uses three kinds of arrangement forms shown in Fig. 3:
1) 120 ° of array groups (approximate linear array), magnetic field gradient calculating formula is as follows:
2) 60 ° of array groups (equilateral triangle battle array), magnetic field gradient calculating formula is as follows:
3) 90 ° of array groups (right angled triangle battle array), magnetic field gradient calculating formula is as follows:
Magnetic field gradient obtained above is brought into formula (3) and (4), location parameter and magnetic moment ginseng can be acquired respectively
Number.
Using above-mentioned technical proposal of the invention and the sensor arrangement simplified, just using improved gradient tensor method
The Primary Location to target in water can be achieved.But due to measure be not proper same position point magnetic field strength and
Magnetic field gradient, always apart from true value, there are certain gaps for solution.
It is being obtained by improved gradient tensor method in water behind the position of target and magnetic moment initial value, the present invention will be in step
In 4, the three maximum fields measurement exceptional value measured using magnetic field sensor reflects Magnetic oriented Xie Yuzhen by establishing as foundation
The objective function of target position and magnetic moment parametric approximation degree in real water, position and magnetic moment to target in water are further sought
It is excellent, to realize that target is accurately positioned.
Reflect that Magnetic oriented solution and the objective function of target position in actual water and magnetic moment parametric approximation degree are as follows:
In formula: H'xi、H'yiAnd H'ziI-th be calculated for the solution of target position and magnetic moment parameter in a certain group of water of correspondence
Magnetic field strength three-component at a position.According to the position of target in given water and magnetic moment value, magnetic field is obtained by formula (1)
Value, solves the objective function then to measure the approximation ratio of target position and magnetic moment parameter and true value in the water.
Target position and magnetic moment parameter are as optimizing variable using in water, and above-mentioned objective function is as fitness function, constraint
Condition is set as twice of Magnetic oriented solution maximum value required by improved gradient tensor method, using population, heredity or difference
The optimization algorithms such as evolution carry out optimizing, can further obtain target positioning solution in the higher water of precision.
When carrying out optimizing using evolution algorithm, to combine global search performance and convergence, in step 3 formation
When population primary, in addition to being introduced into improved the obtained water of gradient tensor method other than the position of target and magnetic moment initial value, also according to about
Beam condition random generates the position of target and magnetic moment value in one group of water, and the Magnetic oriented initial solution of target in water is collectively formed, with
Guarantee to rapidly converge at optimal variable when optimizing.
Due in water for the change procedure relative magnetic field acquisition speed of the Magnetic oriented parameter of target it is many slowly,
In step 5, the present invention after the Magnetic oriented parameter of target, will no longer use improved ladder in obtaining accurate water for the first time
Tensor Method is spent, and is based on directly on the position of target and magnetic moment parameter in the water of sampling instant acquisition, using evolutionary optimization
Algorithm carries out local optimal searching and further can also be achieved mesh to guarantee the Magnetic oriented parameter for quickly obtaining current sample time
Target position tracking.
Arcuate array arrangement form shown in FIG. 1 is a kind of typical signal of the mentioned method of the present invention.On the basis of Fig. 1
On, array can further be segmented, reduce sensor spacing, increase number of probes, magnetic field sensor combination be enriched, to adapt to
The variation of target sizes.
The present invention is not only limited to above-mentioned specific embodiment, and persons skilled in the art are according to embodiment and attached drawing public affairs
Open content, the present invention can be implemented using other a variety of specific embodiments, therefore, it is all using design structure of the invention and
Thinking does the design of some simple transformation or change, both falls within the scope of protection of the invention.
Claims (6)
1. a kind of magnetic target detection and localization method based on arcuate array, which is characterized in that the described method includes:
Lay multiple magnetic field sensors, the multiple arc-shaped arrangement of magnetic field sensor, using multiple magnetic field sensors respectively into
The acquisition of row magnetic field signal, is combined to form different angle array group by the sensor optimization at different location, utilizes different angle
Magnetic field sensor signal acquired in array group is detected and is positioned to large-scale target, medium-sized target and precision target respectively.
2. it is according to claim 1 it is suitable it is a kind of based on arcuate array magnetic target detection and localization method, feature exist
In the method includes the following steps:
Step 1: all magnetic field sensor real-time data collections judge whether there is three or more magnetic in any sampling instant
The magnetic-field measurement exceptional value of field sensor is greater than detection threshold, and then judgement has target in water to occur if it exists, executes step 2, no
Then continue to execute step 1；
Step 2: according to the number of magnetic field sensor, 3 sensor settings of predetermined condition will be met in all magnetic field sensors
For a sensor array group, multiple sensor array groups are formed, according to array of magnetic field group is formed by, are based on magnetic field
Gradient tensor method carries out the position of target and magnetic moment in water and calculates, and obtains the position of target and magnetic moment initial value in a series of water, and
Estimate the magnitude range of target and location section in water；
Step 3: the magnitude range of target and location section in the water obtained according to step 2 estimation, it is random to generate one group
The position of target and magnetic moment value in water, water is collectively formed in the position of target and magnetic moment initial value in a series of water obtained with step 2
The Magnetic oriented initial solution of middle target；
Step 4: the three maximum fields measurement exceptional value measured using magnetic field sensor is fixed with the magnetic field that step 3 obtains as foundation
Position initial solution carries out optimizing as population primary, using evolutionary optimization algorithm, obtains the position of target in the water of current sample time
It sets and magnetic moment parameter；
Step 5: next sampling instant is arrived, the position of target and magnetic moment parameter in water are obtained according to step 4, it is random to generate one group
The position of target and magnetic moment value form population primary in water, carry out optimizing using evolutionary optimization algorithm, obtain current sample time
Water in target position and magnetic moment parameter；
Step 6: the magnetic-field measurement exceptional value for judging whether there is at least three magnetic field sensors is greater than detection threshold, if still depositing
Then otherwise repeatedly step 5 judges that target disappears in water, return step 1.
3. a kind of magnetic target detection and localization method based on arcuate array according to claim 2, which is characterized in that
In the step 2, the predetermined condition of setting sensor array group includes: the interior angle that 3 magnetic field sensors are formed by triangle
For predetermined angular.
4. a kind of magnetic target detection and localization method based on arcuate array according to claim 3, which is characterized in that
In the step 2, the predetermined condition of setting sensor array group include: 3 sensors be formed by vertex angle be 60 °,
90 ° or 120 °.
5. a kind of magnetic target detection and localization method based on arcuate array according to claim 2, which is characterized in that
When being calculated in the step 2 using the position and magnetic moment of target in gradient tensor method progress water, for the array group of different apex angles
It is calculated using different gradient calculation formula.
6. a kind of magnetic target detection and localization method based on arcuate array according to claim 2, which is characterized in that
In step 5, in obtaining accurate water for the first time after the Magnetic oriented parameter of target, improved gradient tensor is no longer used
Method, and be based on directly on a sampling instant acquisition water in target position and magnetic moment parameter, using evolutionary optimization algorithm into
Row local optimal searching.
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| CN111983695A (en) * | 2020-06-05 | 2020-11-24 | 中国电子科技集团公司电子科学研究院 | Underwater magnetic detection array construction and data processing method, device and storage medium thereof |
| CN112525201A (en) * | 2020-12-09 | 2021-03-19 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | Underwater target tracking method based on electromagnetic field characteristic multi-information fusion |
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| CN111983695A (en) * | 2020-06-05 | 2020-11-24 | 中国电子科技集团公司电子科学研究院 | Underwater magnetic detection array construction and data processing method, device and storage medium thereof |
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| CN114545510A (en) * | 2020-11-25 | 2022-05-27 | 中国船舶重工集团公司第七六0研究所 | Underwater magnetic target identification method based on social culture civilization evolution strategy |
| CN114545510B (en) * | 2020-11-25 | 2024-06-11 | 中国船舶重工集团公司第七六0研究所 | Underwater magnetic target identification method based on social culture civilization evolution strategy |
| CN112525201A (en) * | 2020-12-09 | 2021-03-19 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | Underwater target tracking method based on electromagnetic field characteristic multi-information fusion |
| CN112525201B (en) * | 2020-12-09 | 2022-07-26 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | Underwater target tracking method based on electromagnetic field characteristic multi-information fusion |
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