CN109613458A - Spacecraft magnetic anomaly localization method - Google Patents
Spacecraft magnetic anomaly localization method Download PDFInfo
- Publication number
- CN109613458A CN109613458A CN201910031891.XA CN201910031891A CN109613458A CN 109613458 A CN109613458 A CN 109613458A CN 201910031891 A CN201910031891 A CN 201910031891A CN 109613458 A CN109613458 A CN 109613458A
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- magnetic
- magnetic field
- magnetic anomaly
- space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/022—Measuring gradient
Landscapes
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention discloses a kind of methods of spacecraft magnetic anomaly positioning, it include: setting spacecraft measurement model space, coordinate system is established, model space gridding processing passes through the magnetic anomaly regular data on measuring space model surface, combined using the vertical gradient tensor of four adjacent measurement points and establishes equation, the abnormity point position is calculated, many location points, the grid where point off density are then obtained, as abnormal position, then calculate magnetic anomaly magnetic moment size.Method of the invention simply easily realizes that calculated result is reliable.
Description
Technical field
The invention belongs to magnetism of space ship measurements and computing technique field, and in particular to spacecraft product and object magnetic anomaly
Measurement and calculating.
Background technique
The magnetic environment of the earth and interstellar space is one of the important environment for influencing spacecraft operation, influence degree and space flight
The magnetic size of device itself is related, and to meet various performance requirements, spacecraft needs using a certain amount of magnetic material and exists
Certain magnetic field.Secondly, the variation of external magnetic field can cause the change of spacecraft itself parameter of magnetic characteristic, especially progress magnetic field
The satellite of research will limit satellite self-field, especially to the magnetic field strength of magnetic field monitor installation position and steady
Qualitatively limitation, just can guarantee the reliability of detection data.In addition, carrying out gesture stability and tracks positioned to using magnetic torquer
Spacecraft, need to fully understand in-orbit magnetic state, with ensure control validity and measurement precision.Spacecraft is long-term
In orbit, accumulative due to earth's magnetic field and its own magnetic momente interaction, the track and posture of spacecraft can be changed.Therefore,
Assembled spacecraft has to pass through measurement, compensation and the assessment of stringent ground magnetic test, to the magnetic characteristic of spacecraft have compared with
Accurate control, or even when magnetic anomaly occurs in spacecraft can make diagnosis in time and remedy, this is to being reduced or avoided spacecraft
Trouble or failure is generated, it is vital for extending the working life of spacecraft.
There is presently no preferable methods to calculate magnetic anomaly position and information, mainly complete using Eulerian equation joint magnetic field
Tensor solves magnetic anomaly position, and this method needs data more, and is easy to appear the diverging of solution.
The invention proposes a kind of spacecraft magnetic anomaly localization methods, using magnetic anomaly regular data outside spacecraft, in conjunction with magnetic
Tensor gradient vertical component positions spacecraft inside magnetic anomaly and calculates.
Summary of the invention
The purpose of the present invention is to provide a kind of methods of spacecraft magnetic anomaly positioning.This method is surveyed by setting spacecraft
The model space is measured, then handles model space gridding, by the magnetic anomaly regular data on one surface of measuring space model, is utilized
The vertical gradient tensor of four adjacent measurement points, which is combined, establishes equation, calculates the abnormity point position, then calculate magnetic anomaly magnetic moment size.
Valuable reference information is provided for the design, manufacture, magnetic compensation of spacecraft, can also be the magnetic anomaly of spacecraft front and back in orbit
Assessment foundation is provided.
To solve the above problems, The technical solution adopted by the invention is as follows:
Spacecraft magnetic anomaly localization method, comprising the following steps: establish spacecraft measurement model space, establish coordinate system；
Measurement model space is subjected to gridding processing；The magnetic field of the mesh point in measurement some face of spacecraft model space and vertical ladder
Spend tensor；Each mesh point establishes the equation of the vertical gradient tensor component information in a magnetic field: being built with adjacent four mesh points
Vertical equation group, solves magnetic anomaly position (x, y, z) information, until covering all mesh points,
The equation is (x-x0)Bzz+(y-y0)Byz+(z-z0)Bxz=-3 (Bz-bz) (2)
Wherein Bz is vertical component of the magnetic field in measuring point, and bz is vertical component of the background magnetic field in measuring point, x0,y0,z0It is to survey
Amount point coordinate, magnetic anomaly location information x, y, z；
The equation group are as follows:
All solutions are solved again, and (x, the y, z) that solution of equations obtains falls into most grids, as magnetic anomaly region, so
Magnetic anomaly magnetic moment size is calculated according to location information formula of magnetic field afterwards.
Preferably, the space for being easy to measure is set up, which is included spacecraft, establishes coordinate in space
System.
Preferably, by the model space setting be square, and to square carry out gridding processing so that the model space by
Many small cube compositions, are convenient for measuring point and solution.
Preferably, the magnetic anomaly regular data on measuring space model surface is the magnetic of a certain surface grids node in measurement model space
Field and the vertical tensor in magnetic field.
It is an advantage of the current invention that method simply easily realizes that calculation amount is small, precision is high, solves abnormal positioning image, specifically
It shows:
1, spacecraft measurement model space is set up, and has quantified located space, while gridding is handled, and improves data survey
Amount efficiency and precision；
2, equation is established using the vertical simple component of magnetic field gradient tensor, reduces calculation amount, while reduced because using
The introducing error of other magnetic field component of tensors improves the convergence and accuracy of understanding；
3, it is solved by the position of magnetic anomaly of grid where intensively solving, breaks the narrow sense solution that previous output result is a point,
It optimizes abnormal positioning result, and more vivid depicts abnormal area.
Detailed description of the invention
Fig. 1 is the flow chart of spacecraft magnetic anomaly localization method of the invention.
Fig. 2 is that spatial gridding schematic diagram is measured in spacecraft magnetic anomaly localization method of the invention.
Fig. 3 is that equation group takes point diagram in spacecraft magnetic anomaly localization method of the invention, wherein each mesh point can be established
One equation, every four points establish an equation group, obtain the solution in relation to magnetic anomaly location point.
Fig. 4 is the grid schematic diagram that magnetic anomaly usual coordinates intensively solve in spacecraft magnetic anomaly localization method of the invention.Wherein,
Each equation group can solve a solution, and solve that position coordinates are different, and all the points of a test surface have many solutions, close
Grid where the place of collection is exactly abnormal area.
Specific embodiment
Referring to the drawings to spacecraft magnetic anomaly localization method of the invention, but this describe it is merely illustrative, not
It is intended to carry out any restrictions to protection scope of the invention.
The flow chart of spacecraft magnetic anomaly localization method of the invention is shown referring to Fig. 1, Fig. 1.Spacecraft of the invention
Magnetic anomaly localization method, includes the following steps,
Spacecraft is placed in magnetic shield room, establishes measurement space, generally square, space includes that entire spacecraft exists
It is interior, coordinate system is established in space.
Measurement space is divided into several grids, the measurement each face in space in this way is made of many grids, such as is joined
See Fig. 2, wherein the grid of the higher division of required precision is smaller, and vice versa.
Utilize three direction magnetic induction density Bs of each grid point locations of magnetometer surveyx,By,Bz, with the difference of formula (1)
Calculation of group dividing vertical gradient tensor Bzz, Byz, Bxz.
Each measuring point establishes the equation of a magnetic field vertical component information:
(x-x0)Bzz+(y-y0)Byz+(z-z0)Bxz=-3 (Bz-bz) (2)
Wherein Bz is vertical component of the magnetic field in measuring point, and bz is vertical component of the background magnetic field in measuring point, x0,y0,z0It is to survey
Amount point coordinate, magnetic anomaly location information x, y, z.
Every four measurement points are established into an equation group (3), solve magnetic anomaly position (x, y, z) information, the equation of foundation
Group is until covering all the points, as shown in Figure 3.
Solve system of equation, each equation group can obtain a solution, each solution is corresponded in measurement space, is found close
As output as a result, as shown in figure 4, pore is each solution of equations, grid is as final in the mesh space region of collected explanations or commentaries
Solution, as magnetic anomaly region；
5th step brings location information equation (4) into, solves magnetic anomaly size, finally obtains all information of magnetic anomaly.
Although the detailed description and description of the specific embodiments of the present invention are given above, it should be noted that
We can carry out various equivalent changes and modification to above embodiment according to the concept of the present invention, and generated function is made
It, should all be within protection scope of the present invention when with the spirit still covered without departing from specification and attached drawing.
Claims (4)
1. spacecraft magnetic anomaly localization method, comprising the following steps: establish spacecraft measurement model space, establish coordinate system；It will
Measurement model space carries out gridding processing；The magnetic field of the mesh point in measurement some face of spacecraft model space and vertical gradient
Tensor；Each mesh point establishes the equation of a magnetic field vertical component information: establishing equation group with adjacent four mesh points, asks
Magnetic anomaly position (x, y, z) information is solved, until covering all mesh points,
The equation is
(x-x0)Bzz+(y-y0)Byz+(z-z0)Bxz=-3 (Bz-bz)(2)
Wherein Bz is vertical component of the magnetic field in measuring point, and bz is vertical component of the background magnetic field in measuring point, x0,y0,z0It is measurement point
Coordinate, magnetic anomaly location information x, y, z；
The equation group are as follows:
All solutions are solved again, and (x, the y, z) that solution of equations obtains falls into most grids, as magnetic anomaly region, then root
Magnetic anomaly magnetic moment size is calculated according to location information formula of magnetic field.
A sky for being easy to measure is set up 2. the method for claim 1, wherein establishing spacecraft measurement model space and referring to
Between, which is included spacecraft, establishes coordinate system in space.
3. method according to claim 2, wherein be square the setting of spacecraft measurement model space, and to square
Gridding processing is carried out, so that the model space is made of many small cubes, is convenient for measuring point and solution.
4. method according to claim 2, wherein the magnetic anomaly regular data of spacecraft measurement model spatial surface is measurement mould
The vertical tensor in magnetic field and magnetic field of a certain surface grids node in type space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031891.XA CN109613458B (en) | 2019-01-14 | 2019-01-14 | Spacecraft magnetic anomaly positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910031891.XA CN109613458B (en) | 2019-01-14 | 2019-01-14 | Spacecraft magnetic anomaly positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109613458A true CN109613458A (en) | 2019-04-12 |
| CN109613458B CN109613458B (en) | 2020-12-01 |
Family
ID=66016735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910031891.XA Active CN109613458B (en) | 2019-01-14 | 2019-01-14 | Spacecraft magnetic anomaly positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109613458B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6476610B1 (en) * | 2001-04-24 | 2002-11-05 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic anomaly sensing system and methods for maneuverable sensing platforms |
| US7038458B1 (en) * | 2004-10-12 | 2006-05-02 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic anomaly homing system and method using rotationally invariant scalar contractions of magnetic gradient tensors |
| CN102445201A (en) * | 2011-09-28 | 2012-05-09 | 东北林业大学 | Underwater carrier geomagnetic anomaly feature points matching navigation method |
| CN102928794A (en) * | 2012-10-22 | 2013-02-13 | 中国船舶重工集团公司第七一〇研究所 | Magnetic target magnetic-moment measuring method based on three-axis vector magnetic sensor array |
| CN104182648A (en) * | 2014-09-03 | 2014-12-03 | 北京卫星环境工程研究所 | Method for inverting distribution of multiple magnetic sources inside spacecraft |
| CN106405664A (en) * | 2016-08-25 | 2017-02-15 | 中国科学院地质与地球物理研究所 | Magnetic anomaly RTP (Reduction to the Pole) method |
| CN106772639A (en) * | 2016-12-23 | 2017-05-31 | 西南石油大学 | Underground irony pipeline buried depth magnetic dipole structured approach Optimization inversion |
-
2019
- 2019-01-14 CN CN201910031891.XA patent/CN109613458B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6476610B1 (en) * | 2001-04-24 | 2002-11-05 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic anomaly sensing system and methods for maneuverable sensing platforms |
| US7038458B1 (en) * | 2004-10-12 | 2006-05-02 | The United States Of America As Represented By The Secretary Of The Navy | Magnetic anomaly homing system and method using rotationally invariant scalar contractions of magnetic gradient tensors |
| CN102445201A (en) * | 2011-09-28 | 2012-05-09 | 东北林业大学 | Underwater carrier geomagnetic anomaly feature points matching navigation method |
| CN102928794A (en) * | 2012-10-22 | 2013-02-13 | 中国船舶重工集团公司第七一〇研究所 | Magnetic target magnetic-moment measuring method based on three-axis vector magnetic sensor array |
| CN104182648A (en) * | 2014-09-03 | 2014-12-03 | 北京卫星环境工程研究所 | Method for inverting distribution of multiple magnetic sources inside spacecraft |
| CN106405664A (en) * | 2016-08-25 | 2017-02-15 | 中国科学院地质与地球物理研究所 | Magnetic anomaly RTP (Reduction to the Pole) method |
| CN106772639A (en) * | 2016-12-23 | 2017-05-31 | 西南石油大学 | Underground irony pipeline buried depth magnetic dipole structured approach Optimization inversion |
Non-Patent Citations (2)
| Title |
|---|
| 刘继昊 等: "基于磁梯度张量的磁异常在线定位方法分析与评估", 《第十二届国家安全地球物理专题研讨会》 * |
| 郭海鹏: "基于磁异常梯度信号检测的目标定位方法研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109613458B (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110007350B (en) | Analysis method for magnetic detection method blind area | |
| CN107272069B (en) | Magnetic target method for tracing based on magnetic anomaly gradient | |
| CN106353824B (en) | System compensation and magnetic disturbance the compensation fusion method of airborne flux-gate magnetic gradient tensor instrument | |
| CN104062687B (en) | A kind of earth's magnetic field joint observation method and system of vacant lot one | |
| CN104061932B (en) | Method for navigation positioning by using gravitation vector and gradient tensor | |
| CN110146839A (en) | A kind of mobile platform magnetic gradient tensor system compensation method | |
| CN105066994A (en) | Data fusion method for flush air data system and inertial navigation system | |
| CN103697894B (en) | Multi-source information unequal interval federated filter method based on the correction of wave filter variance battle array | |
| CN109470268A (en) | A method of it improving the attitude of satellite and determines precision and efficiency | |
| CN104199115B (en) | A kind of earth magnetism vector measurement error synthesis compensation method based on linear model | |
| CN105785477A (en) | Geomagnetic vector measurement error calibration method with combination of element restriction and summation restriction | |
| JP2020112556A (en) | Magnetic field measurement device, magnetic field measurement method, and magnetic field measurement program | |
| CN106959456A (en) | A kind of GNSS SURVEYING CONTROL NETWORKs Accuracy Estimation | |
| CN113156355B (en) | Magnetic interference compensation method of superconducting full tensor magnetic gradient measuring device | |
| CN107132587A (en) | The full tensor magnetic gradient measurements system mounting error calibration method of aviation superconduction and device | |
| CN103630760A (en) | Field intensity data process system and method | |
| CN112526625B (en) | Computing device for abnormal value of Bragg gravity of aviation gravity measurement point | |
| Karshakov et al. | Aeromagnetic gradiometry and its application to navigation | |
| CN111121758B (en) | Rapid modeling and credible positioning method for indoor magnetic map | |
| CN109633541B (en) | Magnetic source positioning device and magnetic source positioning method | |
| CN108508463A (en) | Ellipsoid set-membership filtering method is extended based on Fourier-Hermite orthogonal polynomials | |
| CN112230174B (en) | On-orbit health determination method suitable for medium and high orbit satellite-borne strong magnetic field output equipment | |
| CN103344252B (en) | A kind of Airborne Hyperspectral imaging system analysis of Positioning Error method | |
| CN109613458A (en) | Spacecraft magnetic anomaly localization method | |
| CN209802285U (en) | Monitoring system for deformation of communication base station antenna |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |