CN109579916B - Buoy type sound-electromagnetic integrated detection device - Google Patents

Buoy type sound-electromagnetic integrated detection device Download PDF

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CN109579916B
CN109579916B CN201811598589.4A CN201811598589A CN109579916B CN 109579916 B CN109579916 B CN 109579916B CN 201811598589 A CN201811598589 A CN 201811598589A CN 109579916 B CN109579916 B CN 109579916B
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instrument cabin
electrode
detection device
sensor
electromagnetic
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CN109579916A (en
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周彤
徐林
王作帅
王建勋
耿攀
杨文铁
余定峰
左超
肖涵琛
郑攀峰
杨帅
张平
周诗颖
杨勇
孙瑜
陈涛
罗伟
魏华
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719th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/24—Buoys container type, i.e. having provision for the storage of material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B2022/006—Buoys specially adapted for measuring or watch purposes

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  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
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Abstract

A buoy type sound electromagnetic integrated detection device comprises a spherical watertight instrument cabin; the device also comprises an annular rod structure positioned on the periphery of the spherical watertight instrument cabin and used for distributing and recovering the buoy type sound-electromagnetic integrated detection device; the vertical instrument cabin is arranged below the spherical watertight instrument cabin and is of a slender taper rod structure; the device also comprises a plurality of horizontal pull rods which are positioned above the vertical instrument cabin and arranged around the periphery of the vertical instrument cabin; the device also comprises an acoustic-electromagnetic measuring unit which is used for measuring acoustic, electric and magnetic signals of the water body; the data acquisition and communication unit is used for transmitting the measured sound, electric and magnetic signals to the outside; the power supply unit is used for supplying power to the buoy type sound-electromagnetic integrated detection device, and the state monitoring unit is used for monitoring the buoy type sound-electromagnetic integrated detection device. A method of operating the probe device is also provided. The invention can quickly and simply measure the acoustic, electric and magnetic fields of the water body, and has high measurement precision and good equipment sensitivity.

Description

Buoy type sound-electromagnetic integrated detection device
Technical Field
The invention relates to a detection device, in particular to a buoy type acoustic electromagnetic integrated detection device.
Background
For underwater targets, detection, identification and positioning are mainly performed by means of various physical field characteristics of the underwater targets, such as sonar, an electric field detection device or a magnetic field detection device.
However, for the traditional target and the novel target, only a single detection means is relied on, and the method is subject to the limitations of high detection false alarm rate, low recognition rate, low positioning accuracy, poor adaptability and the like. Therefore, the comprehensive detection and positioning mode based on the multi-physical field characteristics is the most effective means for realizing the novel underwater target warning.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a buoy-type integrated acoustic-electromagnetic detection apparatus and a detection method thereof, which extract signals of an underwater intrusion target such as a sound field, an electric field, and a magnetic field, and perform comprehensive early warning, tracking, positioning, and identification on the signals.
The buoy type sound-electricity-magnetism integrated detection device comprises a spherical watertight instrument cabin, wherein the upper part of the spherical watertight instrument cabin is made of transparent glass fiber reinforced plastics, a solar panel is arranged below the transparent glass fiber reinforced plastics, an MPPT controller is arranged below the solar panel, and the lower part of the spherical watertight instrument cabin is made of nonmagnetic materials and is positioned underwater; the annular rod structure is positioned on the periphery of the spherical watertight instrument cabin and used for distributing and recovering the buoy type sound-electromagnetic integrated detection device; the vertical instrument cabin is arranged below the spherical watertight instrument cabin and is of a slender taper rod structure; the device also comprises a plurality of horizontal pull rods which are positioned above the vertical instrument cabin and arranged around the periphery of the vertical instrument cabin;
the device also comprises an acoustic-electromagnetic measuring unit which is used for measuring acoustic, electric and magnetic signals of the water body; the data acquisition and communication unit is used for transmitting the measured sound, electric and magnetic signals to the outside; the power supply unit is used for supplying power to the buoy type sound-electromagnetic integrated detection device, and the state monitoring unit is used for monitoring the buoy type sound-electromagnetic integrated detection device.
Further, the measurement unit comprises a hydrophone for measuring an acoustic pressure signal of the body of water, the hydrophone being disposed in the vertical instrumentation room; the three-component fluxgate sensor is used for measuring a magnetic field intensity signal of a water body and is arranged in the spherical watertight instrument cabin; also includes an electrode sensor; and each of the plurality of horizontal pull rods is provided with an electrode sensor, and the vertical instrument cabin is also provided with an electrode sensor which is used for measuring an electric field intensity signal of the water body.
Furthermore, the data acquisition and communication unit is configured in the spherical watertight instrument cabin and comprises a data acquisition and data preprocessing module and a communication module; the data acquisition and data preprocessing module comprises a differential acquisition module which is used for transmitting the signals measured by the electrode sensor to a preamplifier and further transmitting the signals to an AD conversion module; the AD conversion module converts the received analog signals into digital signals and transmits the digital signals to the digital signal processor for effective signal extraction, and then the digital signals are transmitted to the outside through the communication module.
Further, the power supply unit comprises a lithium battery and a power supply management module which are configured in the spherical watertight instrument cabin; the solar energy and self-sustaining power supply management module comprises a power supply manager and an MPPT controller, and is used for realizing the cooperative management of solar energy power supply and self-sustaining power supply; the MPPT controller is used for tracking the maximum power point in the solar panel in real time so as to exert the maximum efficacy of the solar panel.
Further, the state monitoring unit comprises a pressure sensor arranged in the vertical instrument chamber and used for monitoring the depth of the position where the buoy type acoustic electromagnetic integrated detection device is located; the intelligent water-tight instrument cabin comprises a buoy type sound-electricity-magnetism integrated detection device and is characterized by further comprising an attitude sensor and a temperature sensor which are located in the spherical water-tight instrument cabin, wherein the temperature sensor is used for monitoring temperature information of the position where the buoy type sound-electricity-magnetism integrated detection device is located, and the attitude sensor is used for monitoring attitude information of the buoy type sound-electricity-magnetism integrated detection device so as to carry out signal correction.
Further, the detection method of the buoy-type sound-electromagnetic integrated detection device comprises the following steps:
1) measuring by using a hydrophone of the acoustic-electromagnetic measuring unit to obtain a sound pressure signal p;
2) 4 electrode sensors positioned on the horizontal pull rod in the acoustic electromagnetic measurement unit and 2 electrode sensors positioned in the vertical instrument cabin are utilized to obtain 6 electrode signals, the signals are preprocessed, and electric field intensity signals at a measurement point are obtained; taking electrode sensors on horizontal pull rods on the same plane as No. 1, No. 2, No. 3 and No. 4 according to the circumferential sequence, defining the direction from No. 3 to No. 1 as the x direction and from No. 4 to No. 2 as the y direction, taking the electrode sensor above the vertical instrument cabin as the No. 5 electrode, taking the electrode sensor below the vertical instrument cabin as the No. 6 electrode, and defining the direction from No. 5 to No. 6 as the positive direction of the z axis; the distance between the No. 4 electrode and the lower plane is h, and the distances between the No. 1, No. 3, No. 2 and No. 4 electrodes are d; 5. the distance between No. 6 electrodes is h, and the potential signal of each electrode is
Figure GDA0003035765530000032
The electric field strength expression in each direction of each electrode is:
Figure GDA0003035765530000031
3) acquiring a three-component fluxgate signal by using a three-component fluxgate sensor positioned in the spherical watertight instrument cabin;
4) correcting the electric field intensity and the three-component fluxgate signal by utilizing an attitude sensor signal positioned in the spherical watertight instrument cabin to obtain the three-component magnetic field intensity and the electric field intensity of a measuring point;
5) and the sound, electric and magnetic characteristic signals are communicated through a satellite to realize wireless data transmission.
Further, the method for correcting the electric field intensity signal by using the attitude sensor comprises 4 steps:
calculating a correction value after inclination transformation according to the inclination parameters of the attitude sensor:
Etilt correction＝Tq·EMeasured value (2)
Wherein T isqIs a tilt transformation matrix provided by the attitude sensor;
correcting the ideal axis deviation error between the tilt sensor and the ideal coordinate axis of the electrode:
Eideal axis offset correction＝Tx·Ty·Tz·ETilt correction (3)
Wherein, Tx，Ty，TzRotating the matrix around an ideal orthogonal triaxial;
correcting the ideal coordinate axis of the electrode and the actual triaxial non-orthogonally:
Eactual axis offset correction＝T·EIdeal axis offset correction (4)
Wherein T is an electrode sensor triaxial non-orthogonal correction matrix;
sensitivity and zero offset correction:
Eoutput of＝K·EActual axis offset correction+E0 (5)
Where K is the sensitivity correction matrix, E0A zero offset correction matrix;
repeating the electric field intensity signal processing mode on the three-component fluxgate signal to obtain a final magnetic field intensity correction value as follows:
Bcorrection value＝K·T·Tx·Ty·Tz·Tq·BMeasured value+B0 (6)
B0The correction matrix is zero offset, and T is a three-axis non-orthogonal correction matrix of the fluxgate sensor.
The buoy type sound, electricity and magnetism integrated detection device and the detection method thereof can realize sound, electricity and magnetism multi-physical field comprehensive detection, adopt a multi-dimensional data fusion technology and a multi-physical field comprehensive positioning algorithm, adopt solar energy and lithium battery self-sustaining power supply to be combined, realize self positioning and data wireless transmission based on a domestic satellite, and can be used in deep and far sea warning occasions. The integrated measuring device is used for extracting the acoustic, electric and magnetic characteristics of underwater targets and realizing comprehensive positioning of the targets.
Drawings
In order to more clearly illustrate the implementation of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a buoy-type integrated acoustic-electromagnetic detection device according to the present invention;
fig. 2 is a system composition schematic diagram of the buoy type acoustoelectric integrated detection device.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the buoy-type integrated acoustic-electromagnetic detection device of the present invention includes a housing structure, an acoustic-electromagnetic measurement unit, a data acquisition unit, a power supply unit, and a state monitoring unit.
The upper part of the spherical watertight instrument cabin 2 is made of transparent glass fiber reinforced plastic, the first layer below the spherical watertight instrument cabin is a solar panel, the lower part of the instrument cabin is made of nonmagnetic material and is positioned under water, and the MPPT controller is arranged below the solar panel. The interior of the device is composed of an acoustic electromagnetic measuring unit, a data acquisition and communication unit, a power supply unit and a state monitoring unit. The measuring unit comprises a hydrophone, an electrode sensor and a three-component fluxgate sensor; the data acquisition and communication unit consists of a data acquisition and data preprocessing module and a communication module; the power supply unit consists of a lithium battery and a power supply management module; the state monitoring unit is composed of a pressure sensor, an attitude sensor and a temperature sensor.
The shell structure is used for laying of each functional unit, and comprises a spherical watertight instrument cabin 2, an annular rod structure 1 located on the periphery of the spherical watertight instrument cabin 2, a vertical instrument cabin 4 configured below the spherical watertight instrument cabin 2, and a plurality of horizontal pull rods 3 located above the vertical instrument cabin 4 and arranged around the periphery of the vertical instrument cabin, wherein the vertical instrument cabin 4 is of a long and thin tapered rod structure, and is shown as 4 in figure 1. Wherein the annular rod structure 1 is used for laying and recovering the detection device; the spherical instrument cabin 2 is internally provided with a power management module, a lithium battery, a communication module, a magnetic field sensor, an attitude sensor and a temperature sensor; the horizontal pull rod 3 is used for keeping the structural stability and balance of the detection device and is composed of 4 single-arm rods, and an electrode sensor is arranged in each single-arm rod; the vertical instrument chamber 4 comprises hydrophones, pressure sensors, conductivity sensors and 2 electrode sensors.
In one embodiment, the number of the horizontal pull rods is four, and the horizontal pull rods are uniformly arranged in a circle, so that the magnetic field component of a two-dimensional plane can be uniformly measured.
The acoustic-electromagnetic measuring unit consists of hydrophones, three-component fluxgate sensors and three-dimensional high-sensitivity electrode sensors, wherein 1 hydrophone is arranged in a vertical instrument cabin; the spherical watertight instrument cabin is positioned at the upper end of the three-component fluxgate sensor; the three-dimensional high-sensitivity electrode sensors are 6, 2 of the three-dimensional high-sensitivity electrode sensors are located in the vertical instrument chamber, and 4 of the three-dimensional high-sensitivity electrode sensors are respectively located in the horizontal pull rod.
The data acquisition and communication unit is used for acquiring, converting and transmitting data, converting measured analog signals into digital signals, performing digital filtering and effective signal extraction, and realizing self positioning and data wireless transmission through the satellite communication module.
The power supply unit comprises a lithium battery, a power supply manager, a solar cell panel and an MPPT controller, the lithium battery is used for self-sustaining power supply, the solar panel receives solar energy, and the power supply manager can realize the cooperative management of the solar power supply and the self-sustaining power supply.
The state monitoring unit comprises a pressure sensor, an attitude sensor and a temperature sensor, wherein the pressure sensor and the temperature sensor are used for monitoring the depth and the temperature information of the position where the device is located, and the attitude sensor can monitor the attitude information of the device and is used for correcting the measuring signal.
As shown in fig. 2, the integrated detection device has a spherical instrument cabin with a power supply unit, a state monitoring unit and a data acquisition and communication unit, wherein the power supply unit is composed of a lithium battery, a power manager and an MPPT controller, the lithium battery is used for self-sustaining power supply, the solar panel receives solar energy, and the MPPT controller can track the maximum power point in the solar panel in real time to exert the maximum efficacy of the solar panel. The power supply manager can realize the cooperative management of solar power supply and self-sustaining power supply, and supplies power to all the circuit modules and the sensors through the electric energy conversion unit; the state monitoring unit is composed of a three-component fluxgate sensor, a temperature sensor and an attitude sensor and is used for monitoring the depth and temperature information of the position where the device is located and measuring signal correction; the data and communication unit consists of a digital filter, a differential acquisition module, a preamplifier, an AD conversion module, a digital signal processor, a satellite communication module and a positioning module and is used for synchronous acquisition, signal preprocessing, information transmission and self positioning of information; the horizontal pull rod structure comprises an electrode sensor 4; the vertical instrument chamber comprises 2 electrode sensors, a hydrophone, a pressure sensor and a conductivity sensor.
All sensors work together, potential signals of 6 electrode sensors pass through a differential acquisition module and a preamplifier, and are effectively extracted through an AD conversion module and a digital signal processor, so that the electric field intensity of a central point of a measuring device is obtained; sound pressure information, conductivity information, temperature information and magnetic field information are obtained by the digital filter and the AD conversion module reaching the digital signal processor; the electric field signal is processed by potential signals of 6 electrode sensors to obtain the electric field intensity of the central point of the measuring device; the magnetic field signal is obtained by combining 1 three-component fluxgate sensor and an attitude sensor to measure the magnetic field intensity of the planting central point.
Further, the detection method of the integrated detection device comprises the following steps:
1) acquiring a hydrophone signal and a sound pressure signal p;
2) acquiring 6 electrode signals, preprocessing the signals, and acquiring electric field intensity signals at measuring points; taking electrodes on the same plane as No. 1, No. 2, No. 3 and No. 4 in the circumferential sequence, defining the direction from No. 3 to No. 1 as the x direction, from No. 4 to No. 2 as the y direction, taking an upper electrode as the No. 5 electrode, taking a lower electrode as the No. 6 electrode, and defining the direction from No. 5 to No. 6 as the positive direction of a z axis; the distance between the No. 4 electrode and the lower plane is h, and the distances between the No. 1, No. 3, No. 2 and No. 4 electrodes are d; 5. the distance between No. 6 electrodes is h, and the potential signal of each electrode is
Figure GDA0003035765530000072
The electric field strength expression in each direction of each electrode is:
Figure GDA0003035765530000071
the correction is carried out by combining the attitude sensor, and the correction process can be simplified into 4 steps:
calculating a correction value after inclination transformation according to the inclination parameters of the attitude sensor:
Etilt correction＝Tq·EMeasured value (2)
Wherein T isqIs a tilt transformation matrix.
Correcting the ideal axis deviation error between the tilt sensor and the ideal coordinate axis of the electrode:
Eideal axis offset correction＝Tx·Ty·Tz·ETilt correction (3)
Wherein, Tx，Ty，TzIs to rotate the matrix around the ideal orthogonal three axes.
Correcting the ideal coordinate axis of the electrode and the actual triaxial non-orthogonally:
Eactual axis offset correction＝T·EIdeal axis offset correction (4)
Wherein T is an electrode sensor triaxial non-orthogonal correction matrix.
Sensitivity and zero offset correction:
Eoutput of＝K·EActual axis offset correction+E0 (5)
Where K is the sensitivity correction matrix, E0A zero offset correction matrix.
The ideal orthogonal triaxial rotation matrix, the magnetic sensor triaxial non-orthogonal correction matrix, the sensitivity correction matrix and the zero offset correction matrix are all conventional matrices.
3) Obtaining three-component fluxgate signals, correcting by combining with an attitude sensor, obtaining three-component magnetic field intensity of a measuring point, and repeating the electric field signal processing mode to obtain a final magnetic field intensity correction value as follows:
Bcorrection value＝K·T·Tx·Ty·Tz·Tq·BMeasured value+B0 (6)
Where K is the sensitivity correction matrix, B0Is a zero offset correction matrix, T is a three-axis non-orthogonal correction matrix of the fluxgate sensor, Tx，Ty，TzIs to rotate the matrix around the ideal orthogonal three axes.
4) And the acoustic electromagnetic characteristic signals are subjected to satellite communication to realize data wireless transmission.
Although the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention.

Claims (6)

1. A buoy type sound-electromagnetic integrated detection device is characterized by comprising a spherical watertight instrument cabin, wherein the upper part of the spherical watertight instrument cabin is made of transparent glass fiber reinforced plastic materials, and the lower part of the spherical watertight instrument cabin is made of nonmagnetic materials and is positioned under water; the annular rod structure is positioned on the periphery of the spherical watertight instrument cabin and used for distributing and recovering the buoy type sound-electromagnetic integrated detection device; a vertical instrument cabin is arranged below the spherical watertight instrument cabin, and the vertical instrument cabin is of a slender taper rod structure; the device also comprises a plurality of horizontal pull rods which are positioned above the vertical instrument cabin and arranged around the periphery of the vertical instrument cabin; the horizontal pull rod is used for keeping the structural stability and balance of the detection device;
the device also comprises an acoustic-electromagnetic measuring unit which is used for measuring acoustic, electric and magnetic signals of the water body; the data acquisition and communication unit is used for transmitting the measured sound, electric and magnetic signals to the outside; the power supply unit comprises a lithium battery and a power supply management module; the power supply management module comprises a power supply manager and an MPPT controller and is used for supplying power to the buoy type acoustic-electromagnetic integrated detection device, and the state monitoring unit is used for monitoring the buoy type acoustic-electromagnetic integrated detection device;
the measuring unit comprises a hydrophone used for measuring a sound pressure signal of the water body, and the hydrophone is arranged in the vertical instrument cabin; the three-component fluxgate sensor is used for measuring a magnetic field intensity signal of a water body and is arranged in the spherical watertight instrument cabin; also includes an electrode sensor; and each of the plurality of horizontal pull rods is provided with an electrode sensor, and the vertical instrument cabin is also provided with an electrode sensor which is used for measuring an electric field intensity signal of the water body.
2. The buoy-type integrated acoustic-electromagnetic detection device according to claim 1,
the data acquisition and communication unit is configured in the spherical watertight instrument cabin and comprises a data acquisition and data preprocessing module and a communication module; the data acquisition and data preprocessing module comprises a differential acquisition module which is used for transmitting the signals measured by the electrode sensor to a preamplifier and further transmitting the signals to an AD conversion module; the AD conversion module converts the received analog signals into digital signals and transmits the digital signals to the digital signal processor for effective signal extraction, and then the digital signals are transmitted to the outside through the communication module.
3. The integrated acoustic-electromagnetic detection device as claimed in claim 2, wherein the power supply unit is disposed in the ball-shaped watertight instrument chamber; the lithium battery is used for self-sustaining power supply, the solar panel is used for receiving solar energy, and the power supply management module is used for realizing the cooperative management of the solar energy power supply and the self-sustaining power supply; the MPPT controller is used for tracking the maximum power point in the solar panel in real time so as to exert the maximum efficacy of the solar panel.
4. The floating type integrated acoustoelectric and electromagnetic detection device as claimed in claim 1, wherein the condition monitoring unit comprises a pressure sensor disposed in the vertical instrument chamber for monitoring the depth of the position of the floating type integrated acoustoelectric and electromagnetic detection device; the intelligent water-tight instrument cabin comprises a buoy type sound-electricity-magnetism integrated detection device and is characterized by further comprising an attitude sensor and a temperature sensor which are located in the spherical water-tight instrument cabin, wherein the temperature sensor is used for monitoring temperature information of the position where the buoy type sound-electricity-magnetism integrated detection device is located, and the attitude sensor is used for monitoring attitude information of the buoy type sound-electricity-magnetism integrated detection device so as to carry out signal correction.
5. The detection method of the buoy-type acoustoelectric and electromagnetic integrated detection device according to any one of claims 1 to 4, characterized by comprising the following steps:
1) measuring by using a hydrophone of the acoustic-electromagnetic measuring unit to obtain a sound pressure signal p;
2) 4 electrode sensors positioned on the horizontal pull rod in the acoustic electromagnetic measurement unit and 2 electrode sensors positioned in the vertical instrument cabin are utilized to obtain 6 electrode signals, the signals are preprocessed, and electric field intensity signals at a measurement point are obtained; taking electrode sensors on horizontal pull rods on the same plane as No. 1, No. 2, No. 3 and No. 4 in the circumferential sequence, defining that the electrode sensors from No. 3 to No. 1 are in the x direction and from No. 4 to No. 2 are in the y direction, taking the electrode sensor above the vertical instrument cabin as the No. 5 electrode, and taking the vertical instrument cabin as the vertical instrument cabinThe electrode sensor towards the lower part in the instrument cabin is a No. 6 electrode, and No. 5 to No. 6 are defined as the positive direction of a z axis; the distance between the No. 4 electrode and the lower plane is h, and the distances between the No. 1, No. 3, No. 2 and No. 4 electrodes are d; 5. the distance between No. 6 electrodes is h, and the potential signal of each electrode is
Figure FDA0003035765520000021
The electric field strength expression in each direction of each electrode is:
Figure FDA0003035765520000031
Figure FDA0003035765520000032
Figure FDA0003035765520000033
3) acquiring a three-component fluxgate signal by using a three-component fluxgate sensor positioned in the spherical watertight instrument cabin;
4) correcting the electric field intensity and the three-component fluxgate signal by utilizing an attitude sensor signal positioned in the spherical watertight instrument cabin to obtain the three-component magnetic field intensity and the electric field intensity of a measuring point;
5) and the sound, electric and magnetic characteristic signals are communicated through a satellite to realize wireless data transmission.
6. The detection method of the buoy-type integrated acoustic-electromagnetic detector as claimed in claim 5, wherein the correction of the electric field strength signal by the attitude sensor comprises 4 steps:
calculating a correction value after inclination transformation according to the inclination parameters of the attitude sensor:
Etilt correction＝Tq·EMeasured value (2)
Wherein T isqIs a tilt transformation matrix provided by the attitude sensor;
correcting the ideal axis deviation error between the tilt sensor and the ideal coordinate axis of the electrode:
Eideal axis offset correction＝Tx·Ty·Tz·ETilt correction (3)
Wherein, Tx，Ty，TzRotating the matrix around an ideal orthogonal triaxial;
correcting the ideal coordinate axis of the electrode and the actual triaxial non-orthogonally:
Eactual axis offset correction＝T·EIdeal axis offset correction (4)
Wherein T is an electrode sensor triaxial non-orthogonal correction matrix;
sensitivity and zero offset correction:
Eoutput of＝K·EActual axis offset correction+E0 (5)
Where K is the sensitivity correction matrix, E0A zero offset correction matrix;
repeating the electric field intensity signal processing mode on the three-component fluxgate signal to obtain a final magnetic field intensity correction value as follows:
Bcorrection value＝K·T·Tx·Ty·Tz·Tq·BMeasured value+B0 (6)
Wherein, B0A zero offset correction matrix.
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