CN109579827B - Magnetic target detection and positioning method based on arc array - Google Patents
Magnetic target detection and positioning method based on arc array Download PDFInfo
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Abstract
The invention relates to a magnetic target detection and positioning method based on an arc array. The method is suitable for the field of underwater safety warning, can realize the detection and the positioning of various targets under the condition of not arranging a large number of magnetic field sensors, and has good algorithm adaptability and high cost effectiveness ratio.
Description
Technical Field
The invention relates to the technical field of underwater target detection, in particular to a method for detecting and positioning an underwater target by utilizing the magnetic characteristics of the underwater target.
Background
Under water, the underwater safety warning device can detect and position through characteristics of a sound field, an electromagnetic field, optics and the like of an underwater target, and realizes underwater safety warning. For most underwater targets, the underwater targets are made of metal, and have fixed magnetic fields, and simultaneously, induced magnetic fields are generated under the action of geomagnetic fields, and detection and positioning can be realized by using the characteristic signals of the magnetic fields.
At present, magnetic target positioning algorithms include a gradient tensor method and various state estimation algorithms, and the arrangement positions of sensors are required to be respectively set according to magnetic targets with different sizes. For each type of state estimation algorithm, it is also necessary to meet the premise that the preliminary size and location of the magnetic target are known. For underwater targets, it is difficult to compromise detection and localization of various types of large and small targets using conventional methods in a single-mode array arrangement.
Disclosure of Invention
The invention aims to overcome the defects that the existing magnetic target detection and positioning method requires a great number of magnetic field sensors and is difficult to meet the detection requirements of various types of large and small targets, and provides a magnetic target detection and positioning method based on an arc array. The method needs fewer sensors, can respectively realize the detection and the positioning of a large target, a medium target and a small target through the combination of different sensors, has good algorithm adaptability, can meet the precision requirement, and has the advantages of simple structure and high cost efficiency ratio of a system built based on the method.
The invention provides a magnetic target detection and positioning method based on an arc array, which is characterized by comprising the following steps:
step 1: all the magnetic field sensors acquire data in real time, at any sampling time, whether the magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not is judged, if yes, the underwater target is judged to appear, and the step 2 is executed, otherwise, the step 1 is continuously executed;
step 2: setting 3 sensors meeting preset conditions in the magnetic field sensors as a sensor array group according to the number of the magnetic field sensors to form a plurality of sensor array groups, calculating the positions and magnetic moments of targets in water based on a magnetic field gradient tensor method according to the formed magnetic field sensor array group to obtain a series of initial values of the positions and magnetic moments of the targets in water, and estimating the size range and the position interval of the targets in water;
and 3, step 3: randomly generating a group of positions and magnetic moment values of the underwater target according to the size range and the position interval of the underwater target estimated in the step 2, and forming a magnetic field positioning initial solution of the underwater target together with the positions and the magnetic moment initial values of the series of underwater targets obtained in the step 2;
and 4, step 4: taking three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, taking the magnetic field positioning initial solution obtained in the step 3 as an initial generation population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the target in the water at the current sampling moment;
and 5: at the next sampling moment, obtaining the position and magnetic moment parameters of the targets in the water according to the step 4, randomly generating a group of position and magnetic moment values of the targets in the water to form a primary population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
and 6: and (4) judging whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than the detection threshold value, if so, repeating the step (5), otherwise, judging that the target in the water disappears, and returning to the step (1).
The magnetic target detection and positioning method based on the arc array has the following advantages that:
(1) the number of the magnetic field sensors is small, the system is simple, and the cost is low;
(2) the sensor optimization combination at different positions can meet the detection and positioning requirements of different types of targets, and the positioning and identifying precision is high.
Drawings
Fig. 1 is a schematic diagram of the arrangement of the arc-shaped array of magnetic field sensors according to the present invention.
Fig. 2 shows a cross-shaped arrangement of magnetic field sensors for a conventional method of magnetic gradient measurement.
Fig. 3 shows three simple arrangements of the magnetic field sensor for magnetic gradient measurement according to the invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings.
In this embodiment, 9 sensors arranged in an arc shape are taken as an example for description, and among the 9 sensors, one fixed point is adopted, and the other 8 sensors are respectively arranged at the left side and the right side and are symmetrical left and right. Taking the left side as an example, C1, L2 and L4 form a triangle containing a vertex angle of 120 degrees, L2, R2 and C1 form a triangle containing a vertex angle of 120 degrees, and C1, L4 and R4 form a triangle containing a vertex angle of 60 degrees. Preferably, among the sensors arranged in an arc, at least one sensor group can be formed, which comprises an apex angle of 90, 60 and 120 degrees.
The magnetic target detection and positioning method specifically comprises the following steps:
step 1: all the magnetic field sensors acquire data in real time, at any sampling time, whether the magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not is judged, if yes, the underwater target is judged to appear, and the step 2 is executed, otherwise, the step 1 is continuously executed;
and 2, step: setting 3 sensors meeting preset conditions as a sensor array group according to the number of the magnetic field sensors to form a plurality of sensor array groups, calculating the position and the magnetic moment of the underwater target based on a magnetic field gradient tensor method according to the formed magnetic field sensor array group to obtain a series of initial values of the position and the magnetic moment of the underwater target, and estimating the size range and the position interval of the underwater target;
and step 3: randomly generating a group of positions and magnetic moment values of the underwater target according to the size range and the position interval of the underwater target estimated in the step 2, and forming a magnetic field positioning initial solution of the underwater target together with the positions and the magnetic moment initial values of the series of underwater targets obtained in the step 2;
and 4, step 4: taking three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, taking the magnetic field positioning initial solution obtained in the step 3 as an initial generation population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the target in the water at the current sampling moment;
and 5: at the next sampling moment, obtaining the position and magnetic moment parameters of the targets in the water according to the step 4, randomly generating a group of position and magnetic moment values of the targets in the water to form a primary population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
step 6: and (4) judging whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than the detection threshold value, if so, repeating the step (5), otherwise, judging that the target in the water disappears, and returning to the step (1).
In step 2, the specific process of using the modified gradient tensor method and the proposed sensor combination mode to detect and locate the target is as follows.
Empirically, a magnetic target can be regarded as a magnetic dipole in the far field, assuming that the three-directional dipole moments of the magnetic dipole are mx、myAnd mzThe three-component expression of the magnetic field strength at a distance r (x, y, z) from the target in the underwater target coordinate system is as follows:
in the formula:
the magnetic gradient tensor matrix is:
the magnetic target real-time positioning formula based on the spatial one-point magnetic gradient tensor and the three-component magnetic field is as follows:
after the position of the magnetic target is determined according to the formula, the magnetic moment of the magnetic target is calculated according to the formula, and the information such as the state, the type, the scale and the like of the target can be judged according to the magnetic moment.
Of the 9 elements of the magnetic gradient tensor, only 5 are independent, i.e. only 5 of them need to be obtained, so that the complete magnetic gradient tensor matrix can be obtained.
It is usually necessary to use 5 sensors distributed as a cross as shown in fig. 2 to obtain the three components of the magnetic field to the magnetic gradient tensor and measurement point at the location of the center point. The No. 1 sensor measures three-component magnetic field, the No. 2 and No. 3 measure the component change rate in the y direction, and the No. 4 and No. 5 measure the component change rate in the x direction. The specific calculation formula is as follows.
In the formula: d is the magnetic field sensor spacing, Hxi、HyiAnd HziAnd (i is 1-5) is a magnetic field intensity three-component measured at the ith position.
Considering that the number of the sensors is too large when the cross distribution is adopted, the invention can realize the positioning by only adopting three sensors to calculate the magnetic field gradient without two sensors according to the basic characteristic that the change of the magnetic field gradient along with the space position is slower than the change of the magnetic field strength (magnetic gradient). In particular, the inventors of the present application have derived by derivation an algorithm for calculating the magnetic field gradient with only three sensors.
Typically, the present invention takes three arrangements as shown in fig. 3:
1) the magnetic field gradient calculation for a 120 ° array set (approximate linear array) is as follows:
2) the magnetic field gradient calculation for the 60 ° array set (equilateral triangular array) is as follows:
3) the magnetic field gradient calculation formula of the 90-degree array group (right triangle array) is as follows:
the magnetic field gradients obtained above are introduced into equations (3) and (4) to determine the position parameter and the magnetic moment parameter, respectively.
By adopting the technical scheme and the simplified sensor arrangement mode, the initial positioning of the target in water can be realized by utilizing the improved gradient tensor method. However, since the magnetic field strength and the magnetic field gradient at the same point are not measured in a strict sense, the solution is always different from the true value.
After the initial values of the position and the magnetic moment of the underwater target are obtained by an improved gradient tensor method, in step 4, the position and the magnetic moment of the underwater target are further optimized by establishing an objective function reflecting the approximation degree of the magnetic field positioning solution and the real underwater target position and magnetic moment parameters on the basis of three maximum magnetic field measurement abnormal values measured by a magnetic field sensor, so that the target is accurately positioned.
The objective function reflecting the approximation degree of the magnetic field positioning solution and the real underwater target position and magnetic moment parameters is as follows:
in the formula: h'xi、H'yiAnd H'ziAnd calculating three components of the magnetic field intensity at the ith position corresponding to the target position in a certain group of water and the solution of the magnetic moment parameters. According to the position and the magnetic moment value of a given underwater target, a magnetic field value is obtained through a formula (1), and then the objective function is solved to measure the approximation degree of the position and the magnetic moment parameter of the underwater target and a real value.
The underwater target position and the magnetic moment parameter are used as optimization variables, the target function is used as a fitness function, the constraint condition is set to be twice of the maximum value of the magnetic field positioning solution obtained by the improved gradient tensor method, optimization is carried out by adopting optimization algorithms such as particle swarm optimization, genetic optimization or differential evolution and the like, and the underwater target positioning solution with higher precision can be further obtained.
When the evolutionary algorithm is adopted for optimization, in order to simultaneously consider global search performance and convergence, when an initial generation seed group is formed in the step 3, besides the position and magnetic moment initial values of the targets in water obtained by introducing the improved gradient tensor method, a group of position and magnetic moment values of the targets in water are randomly generated according to constraint conditions, and a magnetic field positioning initial solution of the targets in water is formed together, so that the optimal variable position can be quickly converged in optimization.
In step 5, after the precise magnetic field positioning parameters of the underwater target are obtained for the first time, the method does not adopt an improved gradient tensor method, but directly adopts an evolutionary optimization algorithm to carry out local optimization based on the position and magnetic moment parameters of the underwater target obtained at the last sampling moment so as to ensure that the magnetic field positioning parameters at the current sampling moment can be quickly obtained, and further realize the position tracking of the target.
The arc array arrangement shown in fig. 1 is a typical illustration of the method of the present invention. On the basis of fig. 1, the array can be further subdivided, the distance between the sensors is reduced, the number of the sensors is increased, and the combination of the magnetic field sensors is enriched so as to adapt to the change of the size of the target.
The present invention is not limited to the above embodiments, and those skilled in the art can implement the present invention in other various embodiments according to the disclosure of the embodiments and the drawings, and therefore, all the designs and ideas of the present invention, which are made by some simple changes or modifications, fall into the protection scope of the present invention.
Claims (5)
1. A method for detecting and locating a magnetic target based on an arc array, the method comprising:
the method comprises the steps of arranging a plurality of magnetic field sensors in an arc-shaped arrangement, utilizing the plurality of magnetic field sensors to collect magnetic field signals respectively, forming different angle array groups by optimizing and combining the sensors at different positions, and utilizing the magnetic field sensor signals acquired by the different angle array groups to detect and position a large target, a medium target and a small target respectively
The method comprises the following steps:
step 1: all the magnetic field sensors acquire data in real time, at any sampling time, whether the magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not is judged, if yes, the underwater target is judged to appear, and the step 2 is executed, otherwise, the step 1 is continuously executed;
step 2: setting 3 sensors meeting preset conditions in all the magnetic field sensors as a sensor array group according to the number of the magnetic field sensors to form a plurality of sensor array groups, calculating the positions and magnetic moments of targets in water based on a magnetic field gradient tensor method according to the formed magnetic field sensor array group to obtain initial values of the positions and magnetic moments of a series of targets in water, and estimating the size range and the position interval of the targets in water;
and step 3: randomly generating a group of positions and magnetic moment values of the underwater target according to the size range and the position interval of the underwater target estimated in the step 2, and forming a magnetic field positioning initial solution of the underwater target together with the positions and the magnetic moment initial values of the series of underwater targets obtained in the step 2;
and 4, step 4: taking three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, taking the magnetic field positioning initial solution obtained in the step 3 as an initial generation population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the target in the water at the current sampling moment;
and 5: at the next sampling moment, obtaining the position and magnetic moment parameters of the targets in the water according to the step 4, randomly generating a group of position and magnetic moment values of the targets in the water to form a primary population, and optimizing by adopting an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
step 6: and (4) judging whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than the detection threshold value, if so, repeating the step (5), otherwise, judging that the target in the water disappears, and returning to the step (1).
2. The method for detecting and positioning magnetic targets based on arc-shaped array as claimed in claim 1, wherein in the step 2, the setting of the predetermined condition of the sensor array group comprises: the internal angle of the triangle formed by the 3 magnetic field sensors is a predetermined angle.
3. The method for detecting and positioning magnetic targets based on arc-shaped array as claimed in claim 2, wherein in the step 2, the setting of the predetermined condition of the sensor array group comprises: the apex angle of the triangle formed by the 3 sensors is 60 °, 90 ° or 120 °.
4. The method for detecting and positioning the magnetic targets based on the arc-shaped array according to claim 1, wherein when the position and the magnetic moment of the targets in water are calculated by using a gradient tensor method in the step 2, different gradient calculation formulas are used for calculating array groups at different vertex angles.
5. The method for detecting and positioning the magnetic targets based on the arc-shaped array according to claim 1, wherein in step 5, after the precise magnetic field positioning parameters of the targets in water are obtained for the first time, the evolutionary optimization algorithm is directly used for local optimization based on the position and magnetic moment parameters of the targets in water obtained at the last sampling moment without using the improved gradient tensor method.
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| CN110850483B (en) * | 2019-11-12 | 2021-09-14 | 中国船舶重工集团公司第七一九研究所 | Underwater target detection and positioning method based on electric field electrode array arrangement |
| CN111983695B (en) * | 2020-06-05 | 2023-07-21 | 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 and device thereof and storage medium |
| 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 |
| 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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