CN109579828B - Positioning system based on arc magnetic field sensor array and use method thereof - Google Patents
Positioning system based on arc magnetic field sensor array and use method thereof Download PDFInfo
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Abstract
The invention relates to a positioning system based on an arc magnetic field sensor array and a using method thereof. The positioning system comprises a controller, a data transmission unit and a plurality of magnetic field sensors, wherein the magnetic field sensors are in data communication with the controller through the data transmission unit respectively; the magnetic field sensors are arranged in an arc shape. The invention is suitable for the field of underwater safety detection, can realize detection and 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 system for detecting and positioning an underwater target by utilizing the magnetic characteristics of the underwater target and a use method thereof.
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 induced magnetic fields are generated under the action of the geomagnetic fields, so that 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 system based on an arc array and a using method thereof. The invention needs a small number of sensors, can respectively realize the detection and the positioning of a large target, a medium target and a small target by combining different sensors, has good algorithm adaptability, can meet the precision requirement, and has simple structure and high cost-effectiveness ratio of a system built based on the method.
The invention provides a positioning system based on an arc magnetic field sensor array, which is characterized by comprising a controller, a data transmission unit and a plurality of magnetic field sensors,
the plurality of magnetic field sensors are in data communication with the controller through the data transmission unit respectively;
one end of the data transmission unit is connected with the controller, and the other end of the data transmission unit is connected with the magnetic field sensor respectively;
the magnetic field sensors are arranged in an arc shape, a plurality of triangular sensor groups can be formed in the magnetic field sensors arranged in the arc shape, and the triangular sensor groups at least comprise one or more of triangles with the vertex angles of 60 degrees, 90 degrees and 120 degrees (30 degrees);
the magnetic field sensors respectively acquire magnetic field signals, different triangular sensor groups are formed by optimally combining the sensors at different positions, and the magnetic field sensor signals acquired by the different angle array groups are used for respectively detecting and positioning a large target, a medium target and a small target.
Preferably, each magnetic field sensor comprises a data acquisition module for acquiring magnetic field data in real time and transmitting the acquired signals to the controller, and at any sampling time, the controller judges whether magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value, and if so, judges that an underwater target appears and constructs a triangular sensor group;
the controller calculates the position and the magnetic moment of the underwater target based on a magnetic field gradient tensor method according to the formed triangular sensor group to obtain a series of initial values of the position and the magnetic moment of the underwater target, estimates the size range and the position interval of the underwater target, randomly generates a group of positions and magnetic moment values of the underwater target, and forms an initial solution of the magnetic field positioning of the underwater target together with the obtained series of initial values of the position and the magnetic moment of the underwater target;
the controller uses three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, the obtained magnetic field positioning initial solution is used as an initial generation population, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the underwater target at the current sampling moment;
at the next sampling moment, the controller randomly generates a group of position and magnetic moment values of the targets in the water to form a primary population according to the position and magnetic moment parameters of the targets in the water, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
and finally, the controller judges whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than a detection threshold value, if the magnetic field measurement abnormal values are still larger than the detection threshold value, the controller continues to randomly generate a group of position and magnetic moment values of the targets in the water to form an initial generation population according to the position and magnetic moment parameters of the targets in the water, the controller adopts an evolutionary optimization algorithm to optimize to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment, otherwise, the controller judges that the targets in the water disappear, and otherwise, the controller continues to collect the magnetic field data in real time.
Preferably, when the position and the magnetic moment of the target in the water are calculated by using a gradient tensor method, different gradient calculation formulas are adopted for the array groups at different vertex angles to calculate.
Preferably, after the controller acquires the precise magnetic field positioning parameters of the underwater target for the first time, the controller does not adopt an improved gradient tensor method, but directly adopts an evolutionary optimization algorithm to perform local optimization based on the position and magnetic moment parameters of the underwater target acquired at the last sampling moment.
In another aspect, the present invention provides a method for positioning an object by using the positioning system based on the arc-shaped magnetic field sensor array, wherein the method comprises:
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 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: based on three maximum magnetic field measurement abnormal values measured by the magnetic field sensor, optimizing by adopting an evolutionary optimization algorithm by taking the magnetic field positioning initial solution obtained in the step 3 as an initial population to obtain the position and magnetic moment parameters of the target in 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 another aspect, the present invention provides a method for using the positioning system based on the arc-shaped magnetic field sensor array, which is characterized in that the method comprises:
the magnetic field sensors are used for acquiring magnetic field data in real time, the acquired signals are transmitted to the controller, at any sampling time, the controller is used for judging whether magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not, if yes, an underwater target is judged to appear, and a triangular sensor group is constructed;
calculating the position and the magnetic moment of the underwater target by using a controller according to the formed triangular sensor group based on a magnetic field gradient tensor method to obtain a series of initial values of the position and the magnetic moment of the underwater target, estimating the size range and the position interval of the underwater target, randomly generating a group of positions and magnetic moment values of the underwater target, and forming an initial solution of the magnetic field positioning of the underwater target together with the obtained series of initial values of the position and the magnetic moment of the underwater target;
the controller is used for obtaining three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, the obtained magnetic field positioning initial solution is used as an initial generation population, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the underwater target at the current sampling moment;
at the next sampling moment, randomly generating a group of position and magnetic moment values of the targets in the water by using the controller according to the position and magnetic moment parameters 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 finally, judging whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than a detection threshold value by using the controller, if so, continuing to generate a group of position and magnetic moment values of the targets in the water to form an initial population according to the position and magnetic moment parameters of the targets in the water, optimizing by using an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment, and otherwise, judging that the targets in the water disappear, and continuing to collect the magnetic field data in real time.
The magnetic target detection and positioning system based on the arc array and the use method thereof provided by the invention have the following advantages:
(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.
The positioning system mainly comprises three parts, namely a controller, namely a signal processor; the data transmission unit is preferably realized by an optical cable or a photoelectric composite cable as long as the data transmission unit is in charge of signal transmission between the sensor and the signal processor, and certainly, for the condition that the sensors are relatively close to each other, a simpler signal transmission mode can be adopted, and the signal transmission is directly carried out through a cable. The structure of the above three parts should be considered by those skilled in the art, and therefore, will not be described in detail herein.
The core of the invention lies in the arrangement of the magnetic field sensors and the processing of the signals, which are described in detail below.
In this embodiment, 9 sensors arranged in an arc shape are taken as an example for description, and of the 9 sensors, one fixed point (one in the center) is used, and the other 8 sensors are arranged at the left and right sides of the sensor, 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, at least one sensor group comprising 30, 60 and 120 degrees apex angle can be formed among the sensors arranged in the arc.
The magnetic target detection and positioning system of the invention works as follows:
step 1: the controller sends out a starting signal, all the magnetic field sensors acquire data in real time and return the signals, at any sampling time, the controller judges whether the magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value, if yes, the controller judges that an underwater target appears, and the step 2 is executed, otherwise, the step 1 is continuously executed;
step 2: the controller sets 3 sensors meeting preset conditions into a sensor array group according to the number of the magnetic field sensors (the step can be solidified into the controller for a fixed sensor arrangement mode), forms a plurality of sensor array groups, calculates the positions and the magnetic moments of the targets in the water according to the formed magnetic field sensor array group based on a magnetic field gradient tensor method to obtain a series of initial values of the positions and the magnetic moments of the targets in the water, and estimates the size range and the position interval of the targets in the water;
and step 3: the controller randomly generates 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 the positions and the magnetic moment initial values of the series of underwater targets obtained in the step 2 form a magnetic field positioning initial solution of the underwater target;
and 4, step 4: the controller takes three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, takes the magnetic field positioning initial solution obtained in the step 3 as an initial generation population, and adopts an evolutionary optimization algorithm to optimize so as to obtain the position and magnetic moment parameters of the underwater target at the current sampling moment;
and 5: at the next sampling moment, the controller obtains the position and magnetic moment parameters of the targets in the water according to the step 4, randomly generates a group of position and magnetic moment values of the targets in the water to form a primary population, and adopts an evolutionary optimization algorithm to optimize to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
and 6: and then the controller judges whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than the detection threshold value, if the magnetic field measurement abnormal values still exist, the step 5 is repeated, otherwise, the target in the water disappears, and the step 1 is returned.
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, obtaining a magnetic field value through a formula (1), and then solving the objective function to measure the approximation degree of the position and the magnetic moment parameter of the underwater target and a true 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 designs that can be easily changed or modified by using the design structure and thought of the present invention fall within the protection scope of the present invention.
Claims (5)
1. A positioning system based on an arc magnetic field sensor array is characterized by comprising a controller, a data transmission unit and a plurality of magnetic field sensors,
the plurality of magnetic field sensors are in data communication with the controller through the data transmission unit respectively;
one end of the data transmission unit is connected with the controller, and the other end of the data transmission unit is respectively connected with the magnetic field sensor;
the magnetic field sensors are arranged in an arc shape, a plurality of triangular sensor groups can be formed in the magnetic field sensors arranged in the arc shape, and the triangular sensor groups at least comprise one or more of triangles with vertex angles of 60 degrees, 90 degrees and 120 degrees;
the magnetic field sensors respectively collect magnetic field signals, different triangular sensor groups are formed by the optimized combination of the sensors at different positions, the magnetic field sensor signals acquired by the array groups with different angles are respectively used for detecting and positioning a large target, a medium target and a small target,
each magnetic field sensor comprises a data acquisition module for acquiring magnetic field data in real time and transmitting acquired signals to the controller, and at any sampling time, the controller judges whether magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not, and if yes, judges that an underwater target appears, and constructs a triangular sensor group;
the controller calculates the position and the magnetic moment of the underwater target based on a magnetic field gradient tensor method according to the formed triangular sensor group to obtain a series of initial values of the position and the magnetic moment of the underwater target, estimates the size range and the position interval of the underwater target, randomly generates a group of positions and magnetic moment values of the underwater target, and forms an initial solution of the magnetic field positioning of the underwater target together with the obtained series of initial values of the position and the magnetic moment of the underwater target;
the controller uses three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, the obtained magnetic field positioning initial solution is used as an initial generation population, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the underwater target at the current sampling moment;
at the next sampling moment, the controller randomly generates a group of position and magnetic moment values of the targets in the water to form a primary population according to the position and magnetic moment parameters of the targets in the water, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment;
and finally, the controller judges whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than a detection threshold value, if the magnetic field measurement abnormal values are still larger than the detection threshold value, the controller continues to randomly generate a group of position and magnetic moment values of the targets in the water to form an initial generation population according to the position and magnetic moment parameters of the targets in the water, the controller adopts an evolutionary optimization algorithm to optimize to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment, otherwise, the controller judges that the targets in the water disappear, and otherwise, the controller continues to collect the magnetic field data in real time.
2. The positioning system based on the arc-shaped magnetic field sensor array according to claim 1, wherein when the position and the magnetic moment of the target in water are calculated by using a gradient tensor method, different gradient calculation formulas are adopted for the array groups at different vertex angles to calculate.
3. The positioning system based on the arc-shaped magnetic field sensor array according to claim 1, wherein the controller directly performs local optimization based on the position and magnetic moment parameters of the underwater target obtained at the previous sampling moment by using an evolutionary optimization algorithm without using an improved gradient tensor method after the controller obtains the precise magnetic field positioning parameters of the underwater target for the first time.
4. A method for object localization using the arcuate magnetic field sensor array based localization system of any one of claims 1-3, the method comprising:
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: based on three maximum magnetic field measurement abnormal values measured by the magnetic field sensor, optimizing by adopting an evolutionary optimization algorithm by taking the magnetic field positioning initial solution obtained in the step 3 as an initial population to obtain the position and magnetic moment parameters of the target in 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).
5. A method of using the arcuate magnetic field sensor array based positioning system of claim 1, the method comprising:
the magnetic field sensors are used for acquiring magnetic field data in real time, the acquired signals are transmitted to the controller, at any sampling time, the controller is used for judging whether magnetic field measurement abnormal values of more than three magnetic field sensors are larger than a detection threshold value or not, if yes, an underwater target is judged to appear, and a triangular sensor group is constructed;
calculating the position and the magnetic moment of the underwater target by using a controller according to the formed triangular sensor group based on a magnetic field gradient tensor method to obtain a series of initial values of the position and the magnetic moment of the underwater target, estimating the size range and the position interval of the underwater target, randomly generating a group of positions and magnetic moment values of the underwater target, and forming an initial solution of the magnetic field positioning of the underwater target together with the obtained series of initial values of the position and the magnetic moment of the underwater target;
the controller is used for obtaining three maximum magnetic field measurement abnormal values measured by the magnetic field sensor as a basis, the obtained magnetic field positioning initial solution is used as an initial generation population, and an evolutionary optimization algorithm is adopted for optimizing to obtain the position and magnetic moment parameters of the underwater target at the current sampling moment;
at the next sampling moment, randomly generating a group of position and magnetic moment values of the targets in the water by using the controller according to the position and magnetic moment parameters 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 finally, judging whether the magnetic field measurement abnormal values of at least three magnetic field sensors are larger than a detection threshold value by using the controller, if so, continuing to generate a group of position and magnetic moment values of the targets in the water to form an initial population according to the position and magnetic moment parameters of the targets in the water, optimizing by using an evolutionary optimization algorithm to obtain the position and magnetic moment parameters of the targets in the water at the current sampling moment, and otherwise, judging that the targets in the water disappear, and continuing to collect the magnetic field data in real time.
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