CN109579828A - A kind of positioning system and its application method based on arc array of magnetic field - Google Patents
A kind of positioning system and its application method based on arc array of magnetic field Download PDFInfo
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- CN109579828A CN109579828A CN201811582541.4A CN201811582541A CN109579828A CN 109579828 A CN109579828 A CN 109579828A CN 201811582541 A CN201811582541 A CN 201811582541A CN 109579828 A CN109579828 A CN 109579828A
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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
Abstract
The present invention relates to a kind of positioning system and its application method based on arc array of magnetic field.The positioning system includes controller, data transmission unit and multiple magnetic field sensors, and the multiple magnetic field sensor is communicated by the data transmission unit with the controller data respectively；Multiple arc-shaped arrangements of the magnetic field sensor.The present invention is suitable for underwater security field of detecting, 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 system and its application 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 positioning system and its application method.The required number of sensors of the present invention is few, and can pass through the group of different sensors
The detection and positioning for realizing large-scale target, medium-sized target and precision target respectively are closed, algorithm adaptability is good, while being able to satisfy precision
It is required that being simplified based on the system structure that this method is built, efficiency-cost ratio is high.
There is provided a kind of positioning systems based on arc array of magnetic field for the specific technical solution of the present invention, special
Sign is, the positioning system includes controller, data transmission unit and multiple magnetic field sensors,
The multiple magnetic field sensor is communicated by the data transmission unit with the controller data respectively；
Described data transmission unit one end is connected with the controller, and the other end is connected with the magnetic field sensor respectively；
Multiple arc-shaped arrangements of the magnetic field sensor, arc arrangement magnetic field sensor in be capable of forming multiple triangles
Sensor group includes at least in the triangle sensor group in the triangle that apex angle is 60 degree, 90 degree and 120 degree (30 degree)
One or more；
Multiple magnetic field sensors carry out magnetic field signal acquisition respectively, are combined by the sensor optimization at different location
Different triangle sensor groups are formed, using magnetic field sensor signal acquired in different angle array group respectively to large-scale mesh
Mark, medium-sized target and precision target are detected and are positioned.
Preferably, each magnetic field sensor includes data acquisition module, acquires magnetic field data in real time for carrying out, and by institute
The signal of acquisition is transferred to the controller, and in any sampling instant, the controller judges whether there is three or more magnetic fields
The magnetic-field measurement exceptional value of sensor is greater than detection threshold, and then judgement has target in water to occur if it exists, building triangle sensing
Device group；
The controller carries out target in water according to triangle sensor group is formed by, based on magnetic field gradient Tensor Method
Position and magnetic moment calculate, and obtain the position of target and magnetic moment initial value in a series of water, and estimate in water the magnitude range of target and
Location section, and estimate the magnitude range of target and location section in obtained water, it is random to generate one group
The position of target and magnetic moment initial value are collectively formed in water in the position of target and magnetic moment value, with a series of water of above-mentioned acquisition in water
The Magnetic oriented initial solution of target；
And three maximum fields measurement exceptional value that the controller is measured using magnetic field sensor is foundation, obtained
Magnetic oriented initial solution carries out optimizing as population primary, using evolutionary optimization algorithm, obtains mesh in the water of current sample time
Target position and magnetic moment parameter；
To next sampling instant, the controller generates at random according to the position of target and magnetic moment parameter in water is obtained
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；
Finally, the magnetic-field measurement exceptional value that the controller judges whether there is at least three magnetic field sensors is greater than detection
Threshold value continues to generate mesh in one group of water at random according to the position of target and magnetic moment parameter in water is obtained if still having
Target position and magnetic moment value form population primary, carry out optimizing using evolutionary optimization algorithm, obtain in the water of current sample time
Otherwise the position of target and magnetic moment parameter judge that target disappears in water, otherwise continue acquisition magnetic field data in real time.
Preferably, when being calculated using the position and magnetic moment of target in gradient tensor method progress water, for the battle array of different apex angles
Column group is calculated using different gradient calculation formula.
Preferably, the controller is no longer adopted in obtaining accurate water for the first time after the Magnetic oriented parameter of target
With improved gradient tensor method, and it is based on directly on the position of target and magnetic moment parameter in the water of sampling instant acquisition, adopted
Local optimal searching is carried out with evolutionary optimization algorithm.
On the other hand, the present invention provides a kind of positioning system progress using described based on arc array of magnetic field
The method of target positioning, which is characterized in that the described method includes:
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.
On the other hand, the present invention is provided and a kind of is made using the positioning system based on arc array of magnetic field
With method, which is characterized in that the described method includes:
Acquisition magnetic field data in real time is carried out using magnetic field sensor, and signal collected is transferred to the controller,
In any sampling instant, the magnetic-field measurement exceptional value for judging whether there is three or more magnetic field sensors by the controller is big
In detection threshold, then judgement has target in water to occur if it exists, constructs triangle sensor group；
Using controller according to triangle sensor group is formed by, target in water is carried out based on magnetic field gradient Tensor Method
Position and magnetic moment calculate, and obtain the position of target and magnetic moment initial value in a series of water, and estimate in water the magnitude range of target and
Location section, and estimate the magnitude range of target and location section in obtained water, it is random to generate one group
The position of target and magnetic moment initial value are collectively formed in water in the position of target and magnetic moment value, with a series of water of above-mentioned acquisition in water
The Magnetic oriented initial solution of target；
The three maximum fields measurement exceptional value measured using the controller using magnetic field sensor is obtained as foundation
Magnetic oriented initial solution carries out optimizing as population primary, using evolutionary optimization algorithm, obtains mesh in the water of current sample time
Target position and magnetic moment parameter；
To next sampling instant, using the controller according to the position of target and magnetic moment parameter in water is obtained, at random
It generates the position of target and magnetic moment value in one group of water and forms population primary, optimizing is carried out using evolutionary optimization algorithm, obtain current
The position of target and magnetic moment parameter in the water of sampling instant；
Finally, being greater than using the magnetic-field measurement exceptional value that the controller judges whether there is at least three magnetic field sensors
Detection threshold continues to generate one group of water at random according to the position of target and magnetic moment parameter in water is obtained if still having
The position of middle target and magnetic moment value form population primary, carry out optimizing using evolutionary optimization algorithm, obtain current sample time
Otherwise the position of target and magnetic moment parameter in water judge that target disappears in water, otherwise continue acquisition magnetic field data in real time.
A kind of magnetic target detection and positioning system and its application method based on arcuate array proposed by the present invention, has
Following advantages:
(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.
Positioning system of the invention mainly includes three parts, controller, i.e. signal processor；Data transmission unit and magnetic
Field sensor transmits as long as data transmission unit is responsible for the signal between sensor and signal processor, preferably by optical cable or
Optoelectronic composite cable realizes, certainly, for the sensor distance relative close the case where for, simpler signal can be used
Transmission mode directly carries out signal transmission by cable.What structure those skilled in the art of above three part should infer
It arrives, so not being described in detail here.
Core of the invention is the arrangement of magnetic field sensor and the processing of signal, below to sensor arrangement and signal
Treatment process is described in detail.
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 (one of center), in addition 4 are each side arranged for 8, bilateral symmetry.By taking left side as an example, C1, L2 and L4 composition
Triangle comprising 120 degree of apex angles, L2, R2 and C1 composition include the triangle of 120 degree of apex angles, and C1, L4, R4 composition include 60 degree
The triangle of apex angle.Preferably, it arranges in each sensor of camber, is at least capable of forming comprising 30,60 and 120 degree of apex angles
Sensor group each one.
Magnetic target detection of the invention and the positioning system course of work are as follows:
Step 1: controller issues enabling signal, all magnetic field sensor real-time data collections, and carries out signal return,
In any sampling instant, the magnetic-field measurement exceptional value that controller judges whether there is three or more magnetic field sensors is greater than threshold of detectability
Value, then judgement has target in water to occur if it exists, executes step 2, otherwise continues to execute step 1；
Step 2: 3 sensor settings for meeting predetermined condition are one according to the number of magnetic field sensor by controller
Sensor array group (the step for for fixed sensor arrangement, can be cured in controller) is formed more
A sensor array group carries out target in water based on magnetic field gradient Tensor Method according to array of magnetic field group is formed by
Position and magnetic moment calculate, and obtain the position of target and magnetic moment initial value in a series of water, and estimate in water the magnitude range of target and
Location section；
Step 3: controller estimates the magnitude range of target and location section in obtained water according to step 2, with
Machine generates the position of target and magnetic moment value in one group of water, the position of target and magnetic moment initial value in a series of water obtained with step 2
The Magnetic oriented initial solution of target in water is collectively formed；
Step 4: three maximum fields measurement exceptional value that controller is measured using magnetic field sensor is obtained as foundation with step 3
The Magnetic oriented initial solution arrived carries out optimizing as population primary, using evolutionary optimization algorithm, obtains the water of current sample time
The position of middle target and magnetic moment parameter；
Step 5: next sampling instant is arrived, controller obtains the position of target and magnetic moment parameter in water according to step 4, with
Machine generates the position of target and magnetic moment value in one group of water and forms population primary, carries out optimizing using evolutionary optimization algorithm, is worked as
The position of target and magnetic moment parameter in the water of preceding sampling instant；
Step 6: the magnetic-field measurement exceptional value that following controller judges whether there is at least three magnetic field sensors is greater than
Detection threshold, if still having, 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 positioning system based on arc array of magnetic field, which is characterized in that the positioning system include controller,
Data transmission unit and multiple magnetic field sensors,
The multiple magnetic field sensor is communicated by the data transmission unit with the controller data respectively；
Described data transmission unit one end is connected with the controller, and the other end is connected with the magnetic field sensor respectively；
The multiple magnetic field sensor arc-shaped arrangements are capable of forming multiple triangles sensing in the magnetic field sensor of arc arrangement
Device group includes at least one or more in the triangle that apex angle is 60 degree, 90 degree and 120 degree in the triangle sensor group
It is a；
Multiple magnetic field sensors carry out magnetic field signal acquisition respectively, combine to be formed by the sensor optimization at different location
Different triangle sensor groups, using magnetic field sensor signal acquired in different angle array group respectively to large-scale target, in
Type target and precision target are detected and are positioned.
2. the positioning system according to claim 1 based on arc array of magnetic field, which is characterized in that
Each magnetic field sensor includes data acquisition module, acquires magnetic field data in real time for carrying out, and by signal collected
It is transferred to the controller, in any sampling instant, the controller judges whether there is the magnetic of three or more magnetic field sensors
Field measurement exceptional value is greater than detection threshold, and then judgement has target in water to occur if it exists, constructs triangle sensor group；
The controller carries out the position of target in water based on magnetic field gradient Tensor Method according to triangle sensor group is formed by
It is calculated with magnetic moment, obtains the position of target and magnetic moment initial value in a series of water, and estimate in water the magnitude range of target and locating
Position section, and estimate in obtained water the magnitude range of target and the location of section, generate in one group of water at random
Target in water is collectively formed in the position of target and magnetic moment initial value in the position of target and magnetic moment value, with a series of water of above-mentioned acquisition
Magnetic oriented initial solution；
And three maximum fields measurement exceptional value that the controller is measured using magnetic field sensor is foundation, magnetic field obtained
Initial solution is positioned as population primary, optimizing is carried out using evolutionary optimization algorithm, obtains target in the water of current sample time
Position and magnetic moment parameter；
To next sampling instant, the controller generates one group according to the position of target and magnetic moment parameter in water is obtained at random
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；
Finally, the magnetic-field measurement exceptional value that the controller judges whether there is at least three magnetic field sensors is greater than threshold of detectability
Value continues to generate target in one group of water at random according to the position of target and magnetic moment parameter in water is obtained if still having
Position and magnetic moment value form population primary, using evolutionary optimization algorithm carry out optimizing, obtain mesh in the water of current sample time
Otherwise target position and magnetic moment parameter judge that target disappears in water, otherwise continue acquisition magnetic field data in real time.
3. the positioning system according to claim 2 based on arc array of magnetic field, which is characterized in that utilize gradient
When the position of target and magnetic moment calculate in Tensor Method progress water, public affairs are calculated using different gradients for the array group of different apex angles
Formula is calculated.
4. a kind of magnetic target detection and localization method based on arcuate array according to claim 2, which is characterized in that
The controller after the Magnetic oriented parameter of target, no longer uses improved gradient tensor in obtaining accurate water for the first time
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.
5. a kind of positioning system using described in any one of claim 1-4 based on arc array of magnetic field carries out
The method of target positioning, which is characterized in that the described method includes:
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: being one by 3 sensor settings for meeting predetermined condition in magnetic field sensor according to the number of magnetic field sensor
A sensor array group forms multiple sensor array groups, according to array of magnetic field group is formed by, is 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.
6. a kind of application method using the positioning system described in claim 1 based on arc array of magnetic field, special
Sign is, which comprises
Acquisition magnetic field data in real time is carried out using magnetic field sensor, and signal collected is transferred to the controller, it is in office
Meaning sampling instant is greater than by the magnetic-field measurement exceptional value that the controller judges whether there is three or more magnetic field sensors and is visited
Threshold value is surveyed, then judgement has target in water to occur if it exists, constructs triangle sensor group；
Using controller according to triangle sensor group is formed by, the position of target in water is carried out based on magnetic field gradient Tensor Method
It is calculated with magnetic moment, obtains the position of target and magnetic moment initial value in a series of water, and estimate in water the magnitude range of target and locating
Position section, and estimate in obtained water the magnitude range of target and the location of section, generate in one group of water at random
Target in water is collectively formed in the position of target and magnetic moment initial value in the position of target and magnetic moment value, with a series of water of above-mentioned acquisition
Magnetic oriented initial solution；
The three maximum fields measurement exceptional value measured using the controller using magnetic field sensor is foundation, magnetic field obtained
Initial solution is positioned as population primary, optimizing is carried out using evolutionary optimization algorithm, obtains target in the water of current sample time
Position and magnetic moment parameter；
It is generated at random to next sampling instant using the controller according to the position of target and magnetic moment parameter in water is obtained
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；
Finally, being greater than detection using the magnetic-field measurement exceptional value that the controller judges whether there is at least three magnetic field sensors
Threshold value continues to generate mesh in one group of water at random according to the position of target and magnetic moment parameter in water is obtained if still having
Target position and magnetic moment value form population primary, carry out optimizing using evolutionary optimization algorithm, obtain in the water of current sample time
Otherwise the position of target and magnetic moment parameter judge that target disappears in water, otherwise continue acquisition magnetic field data in real time.
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| CN114440870A (en) * | 2021-12-29 | 2022-05-06 | 宜昌测试技术研究所 | Nine-axis magnetic compass attitude acquisition method based on adaptive complementary filtering |
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