CN109633539B

CN109633539B - Static positioning device and static positioning method for magnetic source

Info

Publication number: CN109633539B
Application number: CN201910061723.5A
Authority: CN
Inventors: 伍俊; 荣亮亮; 张国锋; 张树林; 邱隆清; 张朝祥; 宋正威; 裴易峰; 谢晓明
Original assignee: Shanghai Institute of Microsystem and Information Technology of CAS
Current assignee: Shanghai Institute of Microsystem and Information Technology of CAS
Priority date: 2019-01-23
Filing date: 2019-01-23
Publication date: 2023-04-07
Anticipated expiration: 2039-01-23
Also published as: CN109633539A

Abstract

The invention provides a static positioning device and a static positioning method of a magnetic source, wherein the static positioning device comprises: a mounting bracket for providing a mounting platform; the full tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly; the position locator is rigidly connected with the full tensor magnetic gradient measurement assembly and is used for measuring the position coordinates of the full tensor magnetic gradient measurement assembly under a geographic coordinate system; and the measurement and control assembly is electrically connected with the full tensor magnetic gradient measurement assembly and the position positioner and is used for acquiring the magnetic field gradient value and the position coordinate and positioning the magnetic source to be positioned in a motion state in real time according to acquired data. The invention solves the problem that the moving magnetic source cannot be positioned efficiently in the prior art.

Description

Static positioning device and static positioning method for magnetic source

Technical Field

The invention belongs to the field of magnetic detection, and particularly relates to a static positioning device and a static positioning method for a magnetic source.

Background

Full tensor magnetic gradients describe the rate of change information of a magnetic field vector in three dimensions, i.e., the gradient of three components of a magnetic field vector in three directions in space. The measurement result of the full tensor magnetic gradient has the advantages of small influence by the magnetization direction, capability of reflecting the vector magnetic moment information of a target body, capability of better inverting field source parameters (azimuth, magnetic moment and the like) and the like, so that a field source can be positioned and tracked, and the resolution of the magnetic source body is improved.

In the existing known magnetic source positioning method, the total field information of the magnetic source is usually needed to realize the positioning of the moving magnetic source, but the total field information of the moving magnetic source is difficult to accurately measure in the actual measuring process due to the fluctuation of the earth magnetic field, so that the positioning accuracy of the existing positioning method is limited. Therefore, how to provide a high-precision moving magnetic source positioning method is a technical problem which needs to be solved urgently by the technical personnel in the field.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a static positioning device and a static positioning method for a magnetic source, which are used to solve the problem that the moving magnetic source cannot be efficiently positioned in the prior art.

To achieve the above and other related objects, the present invention provides a static positioning apparatus for a magnetic source, comprising:

a mounting bracket for providing a mounting platform;

the full tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly;

the position locator is rigidly connected with the full tensor magnetic gradient measurement assembly and is used for measuring the position coordinates of the full tensor magnetic gradient measurement assembly under a geographic coordinate system;

and the measurement and control assembly is electrically connected with the full tensor magnetic gradient measurement assembly and the position positioner and is used for acquiring the magnetic field gradient value and the position coordinate and positioning the magnetic source to be positioned in a motion state in real time according to acquired data.

Optionally, the full tensor magnetic gradient measurement assembly comprises: at least one magnetometer.

Optionally, the mounting bracket includes a cryogenic vessel for providing a mounting platform for the full tensor magnetic gradient measurement assembly while providing a cryogenic environment for the full tensor magnetic gradient measurement assembly.

Optionally, the full tensor magnetic gradient measurement assembly comprises: at least one planar gradiometer.

Optionally, the cryogenic vessel comprises a cryogenic dewar.

Optionally, the position locator comprises: differential GPS receivers or combined inertial navigation.

The invention also provides a static positioning method of the magnetic source, which comprises the following steps:

building the static positioning device;

when the magnetic source to be positioned is in a static state, acquiring a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of the two selected measurement points in the static state, and acquiring position coordinates of the full tensor magnetic gradient measurement assembly of the two selected measurement points so as to acquire initial position coordinates of the magnetic source to be positioned in the static state according to a full tensor invariant;

when the magnetic source to be positioned is in a motion state, acquiring a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of any selected measuring point in the motion state;

and establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be positioned according to the full tensor invariant so as to obtain the real-time position coordinates of the magnetic source to be positioned in the motion state according to the magnetic field gradient values corresponding to the same selected measuring point in different states, the initial position coordinates of the magnetic source to be positioned and the position coordinates corresponding to the selected measuring point.

Optionally, the method for acquiring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at two selected measurement points in the static state comprises: acquiring magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at different measurement points in a static state, and performing signal-to-noise ratio comparison on the magnetic field gradient values corresponding to the different measurement points to select two magnetic field gradient values with optimal signal-to-noise ratios; and selecting the measuring points corresponding to the two magnetic field gradient values as the selected measuring points.

Optionally, the method of acquiring the position coordinates of the full tensor magnetic gradient measurement assembly includes: acquiring position coordinates of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; correcting the position coordinates based on the offset to obtain the position coordinates of the full tensor magnetic gradient measurement assembly.

Optionally, the method for obtaining the initial position coordinate of the magnetic source to be positioned includes:

acquiring unit vectors of position vectors of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the two selected measuring points in a static state according to the magnetic field gradient values corresponding to the two selected measuring points and the full tensor invariant;

and establishing a space straight line model according to the position coordinates corresponding to the two selected measuring points and the unit vector of the position vector from the magnetic source to be positioned to the full tensor magnetic gradient measurement assembly of the two selected measuring points in a static state so as to obtain the initial position coordinates of the magnetic source to be positioned.

Optionally, the method for acquiring a unit vector of a position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measurement points in a static state includes:

respectively obtaining full tensor magnetic gradient matrix characteristic values corresponding to the two selected measuring points according to the magnetic field gradient values corresponding to the two selected measuring points;

respectively obtaining the minimum absolute eigenvalue of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points according to the eigenvalues of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points, and obtaining a reference direction vector according to the minimum absolute eigenvalue of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points; the reference direction vector is parallel to the direction vector of the magnetic moment of the magnetic source to be positioned in a static state;

according to the full tensor invariants

Determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state, thereby obtaining the unit vector of the magnetic moment vector in the static stateThe unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the two selected measuring points; wherein MT is a constant of the total tensor, λ ₁ 、λ ₂ 、λ ₃ Is a full tensor magnetic gradient matrix eigenvalue, mu ₀ And M is a mode of magnetic moment of the magnetic source to be positioned, and R is the distance between the full-tensor magnetic gradient measurement assembly and the magnetic source to be positioned.

Optionally, the method for obtaining the reference direction vector includes: and acquiring a corresponding eigenvector according to the minimum absolute eigenvalue of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points, and acquiring a vector product of the two eigenvectors to acquire the reference direction vector.

Optionally, the method for determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state includes: according to the constant of full tensor

And judging the distance from the magnetic source to be positioned to the full tensor magnetic gradient measurement assembly of the two selected measuring points in the static state by using the full tensor magnetic gradient matrix characteristic values corresponding to the two selected measuring points, thereby determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state.

Optionally, the spatial straight line model comprises:

and &>

Wherein x, y and z are initial position coordinates of the magnetic source to be positioned, A _x 、A _y 、A _z Is the position coordinate, P, of the full tensor magnetic gradient measurement assembly of a selected measurement point _A 、Q _A 、H _A Is a unit vector of a position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to a selected measuring point in a static state, B _x 、B _y 、B _z Is the position coordinates of the full tensor magnetic gradient measurement assembly of another selected measurement point,P _B 、Q _B 、H _B is the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to another selected measuring point in a static state.

Optionally, the method for establishing a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned according to the full tensor invariant comprises the following steps: according to the full tensor invariants

Establishing a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned>

Wherein MT is the constant of the total tensor, MT ₁ For the full tensor invariant, MT, generated by a magnetic source to be positioned in a static state at a full tensor magnetic gradient measurement assembly at the same measuring point ₂ Is a full tensor invariant, lambda, generated by a magnetic source to be positioned in a motion state at a full tensor magnetic gradient measurement component at the same measurement point ₁ 、λ ₂ 、λ ₃ Is the eigenvalue, μ, of a full tensor magnetic gradient matrix ₀ For vacuum permeability, M is the mode of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned ₁ For measuring the distance R between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in a static state ₂ And the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in the motion state is measured.

Optionally, the method for acquiring the real-time position coordinates of the magnetic source to be positioned in the motion state includes:

acquiring a unit vector of a position vector from the magnetic source to be positioned to the full tensor magnetic gradient measuring assembly of the selected measuring point in a motion state according to a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measuring assembly of the selected measuring point in the motion state;

obtaining the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in a motion state according to a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be positioned, the magnetic field gradient values corresponding to the same selected measuring point in different states, the initial position coordinates of the magnetic source to be positioned and the position coordinates corresponding to the selected measuring point;

and acquiring a position vector from the magnetic source to be positioned to the full tensor magnetic gradient measurement component of the selected measuring point in the motion state according to the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state and the unit vector of the position vector from the magnetic source to be positioned to the full tensor magnetic gradient measurement component of the selected measuring point in the motion state, thereby acquiring the real-time position coordinate of the magnetic source to be positioned in the motion state.

As described above, according to the static positioning device and the static positioning method of the magnetic source of the present invention, the static positioning device composed of the mounting bracket or the low temperature container, the full-tensor magnetic gradient measurement component, the position locator and the measurement and control component is used to obtain the initial position coordinate of the magnetic source in the static state, and then obtain the corresponding magnetic field gradient value of the magnetic source in the motion state, so as to obtain the real-time position coordinate of the magnetic source in the motion state according to the distance ratio model; when the initial position coordinates are obtained, the magnetic field gradient values of the magnetic source to the full-tensor magnetic gradient measurement assemblies of the two selected measurement points are collected, the unit vectors of the position vectors of the full-tensor magnetic gradient measurement assemblies of the magnetic source to the two selected measurement points are obtained by combining the full-tensor invariants irrelevant to the posture, meanwhile, the virtual solution is removed, and then a space straight line model is built by combining the position coordinates of the two selected measurement points to obtain the initial position coordinates of the magnetic source in a static state. Therefore, the static positioning method of the invention can realize high-precision real-time positioning of the magnetic source in the motion state only by the initial position coordinate of the magnetic source in the static state, the magnetic field gradient value of the magnetic source in the motion state and the distance ratio model without knowing the total field information of the magnetic source; meanwhile, the static positioning device and the static positioning method can give full play to the sensitivity advantage of a full-tensor magnetic gradient measurement component constructed based on the superconducting magnetic sensor, and realize remote high-precision real-time positioning; the static positioning device and the static positioning method are simple and quick to operate, convenient to implement and very suitable for being applied to the field of magnetic positioning measurement.

Drawings

Fig. 1 is a schematic structural diagram of a magnetic source static positioning device according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a magnetic source static positioning apparatus according to a second embodiment of the present invention.

Fig. 3 is a flowchart of a magnetic source static positioning method according to a third embodiment of the present invention.

Fig. 4 is a schematic distribution diagram of a magnetic source to be located in a virtual solution according to a third embodiment of the present invention, where a is a real magnetic source, a' is a virtual solution, B1 is a first measurement point, and B2 is a second measurement point.

Description of the element reference numerals

100. Static positioning device for magnetic source

101. Mounting bracket

102. Full tensor magnetic gradient measurement assembly

103. Position locator

104. Measurement and control assembly

200. Ground surface

300. Magnetic source to be positioned

400. Static positioning device for magnetic source

401. Low temperature container

402. Full tensor magnetic gradient measurement assembly

403. Position locator

404. Measurement and control assembly

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Please refer to fig. 1 to 4. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Example one

As shown in fig. 1, the present embodiment provides a static positioning apparatus for a magnetic source, where the static positioning apparatus 100 includes:

a mounting bracket 101 for providing a mounting platform;

the full tensor magnetic gradient measurement assembly 102 is arranged on the mounting bracket 101 and is used for measuring the magnetic field gradient value generated by the magnetic source 300 to be positioned at the full tensor magnetic gradient measurement assembly 102;

a position locator 103 rigidly connected to the full tensor magnetic gradient measurement unit 102, for measuring position coordinates of the full tensor magnetic gradient measurement unit 102 in a geographic coordinate system;

and the measurement and control component 104 is electrically connected to the full tensor magnetic gradient measurement component 102 and the position locator 103, and is used for acquiring the magnetic field gradient value and the position coordinate and positioning the magnetic source 300 to be positioned in a motion state in real time according to the acquired data.

The mounting bracket 101 is any structure capable of achieving a mounting and fixing function, and the specific structure of the mounting bracket 101 is not limited in this embodiment. Specifically, as shown in fig. 1, the mounting bracket 101 includes three levels, wherein the full tensor magnetic gradient measurement unit 102 is mounted at a first level of the mounting bracket 101 (i.e., at the bottom of the mounting bracket 101), the position locator 103 is mounted at a third level of the mounting bracket 101 (i.e., at the upper portion of the mounting bracket 101), and the measurement and control unit 104 is mounted at a second level of the mounting bracket 101 (i.e., at the middle of the mounting bracket 101); of course, in other embodiments, the full tensor magnetic gradient measurement component 102, the position locator 103 and the measurement and control component 104 may be in a replaceable level, and this embodiment does not limit the upper and lower position relationship of the full tensor magnetic gradient measurement component 102, the position locator 103 and the measurement and control component 104, and the position locator 103 and the measurement and control component 104 may not be installed on the mounting bracket 101, that is, the position locator 103 and the measurement and control component 104 are installed outside the mounting bracket 101.

By way of example, the full tensor magnetic gradient measurement component 102 includes: at least one magnetometer by being built up in a physical configuration to form the full tensor magnetic gradient measurement assembly 102. It should be noted that the final structure of the full tensor magnetic gradient measurement assembly 102 is determined by the number of the magnetometers and the physical configuration of the whole tensor magnetic gradient measurement assembly 102, that is, the final structure of the full tensor magnetic gradient measurement assembly 102 formed by building different numbers of the magnetometers according to different physical configurations is different, but the static positioning apparatus of the embodiment is applicable to any final structure of the full tensor magnetic gradient measurement assembly 102. It should be particularly noted that, since the full tensor magnetic gradient measurement assembly 102 is a non-superconducting device in this embodiment, it works in a normal temperature environment.

As an example, the position locator 103 includes: differential GPS receivers or combined inertial navigation. Specifically, when there is no spatial distance between the full tensor magnetic gradient measurement assembly 102 and the position locator 103, the position coordinates of the full tensor magnetic gradient measurement assembly 102 are measured by using a differential GPS receiver, that is, the position coordinates of the differential GPS receiver are the position coordinates of the full tensor magnetic gradient measurement assembly 102; when there is a spatial distance between the full tensor magnetic gradient measurement assembly 102 and the position locator 103, the position coordinates of the full tensor magnetic gradient measurement assembly 102 are measured by using combined inertial navigation, that is, the offset between the full tensor magnetic gradient measurement assembly 102 and the position locator 103 is directly measured by using the coordinate point offset setting function of the combined inertial navigation, and the measured position coordinates (that is, the position coordinates of the combined inertial navigation) are corrected based on the offset, so that the position coordinates of the full tensor magnetic gradient measurement assembly 102 are obtained. It should be noted that measuring the position coordinates by the differential GPS receiver, measuring the position coordinates by combining inertial navigation, measuring an offset, and correcting the position coordinates based on the offset are well known to those skilled in the art, and therefore, will not be described herein.

As an example, the measurement and control component 104 is any existing device capable of acquiring and processing a magnetic field gradient value and a position coordinate, and the structure of the measurement and control component 104 is not limited in this embodiment.

Example two

As shown in fig. 2, the present embodiment provides a static positioning apparatus for a magnetic source, where the static positioning apparatus 400 includes:

a cryogenic container 401 for providing an installation platform while providing a cryogenic environment;

the full tensor magnetic gradient measurement component 402 is arranged in the low-temperature container 401 and is used for measuring the gradient value of a magnetic field generated by the magnetic source 300 to be positioned at the full tensor magnetic gradient measurement component 402;

a position locator 403 rigidly connected to the full tensor magnetic gradient measurement unit 402 for measuring position coordinates of the full tensor magnetic gradient measurement unit 402 in a geographic coordinate system;

and the measurement and control component 404 is electrically connected to the full tensor magnetic gradient measurement component 402 and the position locator 403, and is configured to acquire the magnetic field gradient value and the position coordinate, and perform real-time positioning on the magnetic source 300 to be positioned in a motion state according to acquired data.

By way of example, the cryogenic vessel 401 comprises a cryogenic dewar, which is well known to those skilled in the art and therefore will not be described in detail herein.

By way of example, the full tensor magnetic gradient measurement component 402 includes: at least one planar gradiometer is constructed by building at least one planar gradiometer into a physical configuration to form the full tensor magnetic gradient measurement assembly 402. It should be noted that the final structure of the full tensor magnetic gradient measurement assembly 402 is determined by the number of the planar gradiometers and the physical configuration of the planar gradiometers, that is, the final structure of the full tensor magnetic gradient measurement assembly 402 formed by different numbers of planar gradiometers according to different physical configurations is different, but the static positioning apparatus of the present embodiment is suitable for any final structure of the full tensor magnetic gradient measurement assembly 402. It should be particularly noted that the full tensor magnetic gradient measurement assembly 402 of this embodiment is a superconducting device, and thus operates in a low temperature environment.

As an example, the position locator 403 includes: differential GPS receivers or combined inertial navigation. Specifically, when there is no spatial distance between the full tensor magnetic gradient measurement assembly 402 and the position locator 403, the position coordinates of the full tensor magnetic gradient measurement assembly 402 are measured by using a differential GPS receiver, that is, the position coordinates of the differential GPS receiver are the position coordinates of the full tensor magnetic gradient measurement assembly 402; when there is a spatial distance between the full tensor magnetic gradient measurement assembly 402 and the position locator 403, the position coordinates of the full tensor magnetic gradient measurement assembly 402 are measured by using combined inertial navigation, that is, the offset between the full tensor magnetic gradient measurement assembly 402 and the position locator 403 is directly measured by using the coordinate point offset setting function of the combined inertial navigation, and the measured position coordinates (that is, the position coordinates of the combined inertial navigation) are corrected based on the offset, so that the position coordinates of the full tensor magnetic gradient measurement assembly 402 are obtained. It should be noted that measuring the position coordinates by the differential GPS receiver, measuring the position coordinates by combining inertial navigation, measuring an offset, and correcting the position coordinates based on the offset are well known to those skilled in the art, and therefore, will not be described herein.

As an example, the measurement and control component 404 is any existing device capable of acquiring and processing a magnetic field gradient value and a position coordinate, and the structure of the measurement and control component 404 is not limited in this embodiment.

EXAMPLE III

As shown in fig. 3, this embodiment provides a static positioning method for a magnetic source, where the static positioning method includes:

building the static positioning device according to the first embodiment or the second embodiment;

It should be noted that, please refer to the first embodiment or the second embodiment specifically for the composition and construction of the static positioning device in this embodiment, and the composition and construction of the static positioning device are not described again in this embodiment.

As an example, when the magnetic source to be positioned is in a static state, the static positioning device is carried to obtain the magnetic field gradient values and the position coordinates corresponding to different measuring points. Specifically, the magnetic field gradient values and the position coordinates corresponding to the two measuring points can be obtained by carrying the static positioning device only once; the magnetic field gradient values and the position coordinates corresponding to a plurality of different measuring points can be obtained by carrying the static positioning device for a plurality of times, and two measuring points are selected from the magnetic field gradient values and the position coordinates corresponding to the two selected measuring points; even a plurality of measuring points can be obtained by carrying the static positioning device for a plurality of times, the plurality of measuring points are combined pairwise to obtain a plurality of groups of initial position coordinates, and finally, the final initial position coordinates are obtained by calculating the average value. It should be noted that, in this embodiment, it may be determined whether the magnetic source to be positioned is in a stationary state or a moving state by determining whether the full tensor magnetic gradient measured at the fixed point changes, and of course, determining whether the magnetic source to be positioned is in the stationary state or the moving state is not limited to the above-mentioned methods, but since these methods are well known by those skilled in the art, they are not described herein again.

The method for acquiring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at the two selected measuring points in the static state comprises the following steps: acquiring magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at different measurement points in a static state, and performing signal-to-noise ratio comparison on the magnetic field gradient values corresponding to the different measurement points to select two magnetic field gradient values with optimal signal-to-noise ratios; and selecting the measuring points corresponding to the two magnetic field gradient values as the selected measuring points. It should be noted that, measuring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measuring assembly through the full tensor magnetic gradient measuring assembly and performing the signal-to-noise ratio calculation on the output signal are well known by those skilled in the art, and therefore, the details are not described herein again.

When there is no spatial distance between the full tensor magnetic gradient measurement assembly and the position locator, the position locator (such as a differential GPS receiver) may directly acquire the position coordinates of the full tensor magnetic gradient measurement assembly, that is, the position coordinates of the position locator are the position coordinates of the full tensor magnetic gradient measurement assembly. The method of obtaining position coordinates of the full tensor magnetic gradient measurement assembly when there is a spatial distance between the full tensor magnetic gradient measurement assembly and the position locator comprises: acquiring position coordinates of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; correcting the position coordinates based on the offset to obtain the position coordinates of the full tensor magnetic gradient measurement assembly. For example, the offset between the full tensor magnetic gradient measurement assembly and the position locator is directly measured by using the coordinate point offset setting function of the combined inertial navigation, the position coordinate of the combined inertial navigation is measured, and then the position coordinate is corrected based on the offset to obtain the position coordinate of the full tensor magnetic gradient measurement assembly. It should be noted that measuring the position coordinates by the differential GPS receiver or the combined inertial navigation, measuring the offset by using the coordinate point offset setting function of the combined inertial navigation, and correcting the position coordinates according to the offset are well known to those skilled in the art, and therefore, will not be described herein again.

As an example, the method for acquiring the initial position coordinates of the magnetic source to be positioned includes:

acquiring unit vectors of position vectors of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the two selected measuring points in a static state according to the magnetic field gradient values corresponding to the two selected measuring points and the full tensor invariants;

Specifically, the method for acquiring the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measurement points in the static state comprises the following steps:

respectively acquiring full tensor magnetic gradient matrix characteristic values corresponding to the two selected measuring points according to the magnetic field gradient values corresponding to the two selected measuring points;

respectively obtaining the minimum absolute characteristic value of the full tensor magnetic gradient matrix corresponding to the two selected measuring points according to the characteristic values of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, and obtaining a reference direction vector according to the minimum absolute characteristic value of the full tensor magnetic gradient matrix corresponding to the two selected measuring points; the reference direction vector is parallel to the direction vector of the magnetic moment of the magnetic source to be positioned in a static state;

according to the full tensor invariants

Determining a unit vector of a magnetic moment vector of the magnetic source to be positioned in a static state, thereby obtaining the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measuring points in the static state; wherein MT is a constant of the total tensor, λ ₁ 、λ ₂ 、λ ₃ Is a full tensor magnetic gradient matrix eigenvalue, mu ₀ And the magnetic field intensity is measured by a full-tensor magnetic gradient measurement assembly, and the magnetic field intensity is measured by a magnetic field intensity measuring assembly.

The method for respectively obtaining the full tensor magnetic gradient matrix characteristic values corresponding to the two selected measuring points according to the magnetic field gradient values corresponding to the two selected measuring points comprises the following steps: respectively acquiring full tensor magnetic gradient matrixes corresponding to the two selected measuring points according to the magnetic field gradient values corresponding to the two selected measuring points, and then respectively acquiring full tensor magnetic gradient matrix eigenvalues lambda corresponding to the two selected measuring points according to the full tensor magnetic gradient matrixes ₁ 、λ ₂ 、λ ₃ (ii) a Wherein λ is ₂ ≥λ ₃ ≥λ ₁ ，|λ ₁ |≥|λ ₃ |，|λ ₂ |≥|λ ₃ L. the method is used for the preparation of the medicament. It is noted that the full tensor magnetic gradient matrix is obtained according to the magnetic field gradient value and the eigenvalue λ of the full tensor magnetic gradient matrix is obtained according to the full tensor magnetic gradient matrix ₁ 、λ ₂ 、λ ₃ Are well known to those skilled in the art and will not be described herein.

The method for acquiring the reference direction vector comprises the following steps: and acquiring a corresponding characteristic vector according to the minimum absolute characteristic value of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points, and solving a vector product of the two characteristic vectors to acquire the reference direction vector. In the embodiment, the eigenvector corresponding to the minimum absolute eigenvalue of the full tensor magnetic gradient matrix is perpendicular to the magnetic moment vector of the magnetic source to be positioned and the position vector (namely V) of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point ₃ * m =0, whichMiddle V ₃ Is the minimum absolute eigenvalue lambda of the full tensor magnetic gradient matrix ₃ The corresponding characteristic vector, m is the magnetic moment vector of the magnetic source to be positioned), and a vector product is obtained from the characteristic vectors corresponding to the two selected measuring points, so that a reference direction vector parallel to the direction vector of the magnetic moment of the magnetic source to be positioned in a static state is obtained (namely the obtained vector product is the reference direction vector); wherein the reference direction vector

m _s Is a reference direction vector, i, j, k are unit vectors in the x, y, z-axis directions, respectively, V _3iA 、V _3jA 、V _3kA Is the coordinate, V, of the eigenvector of the minimum absolute eigenvalue of the full-tensor magnetic gradient matrix corresponding to the selected measuring point in the x, y and z coordinate system _3iB 、V _3jB 、V _3kB Is the coordinate of the eigenvector of the minimum absolute eigenvalue of the full tensor magnetic gradient matrix corresponding to the other selected measuring point in the x, y and z coordinate systems. It should be noted that the minimum absolute eigenvalue of the full tensor magnetic gradient matrix in this embodiment refers to the smallest absolute value of the eigenvalues of the full tensor magnetic gradient matrix, i.e. λ ₃ 。

Unit vector of magnetic moment vector due to the magnetic source to be positioned

And the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the selected measurement point->

All can be determined by the characteristic value lambda of the full-tensor magnetic gradient matrix ₁ 、λ ₂ 、λ ₃ And two eigenvalues λ with larger absolute values ₁ 、λ ₂ Corresponding feature vector V ₁ 、V ₂ Indicate, i.e. <' > i>

And

wherein->

Unit vector of the visible magnetic moment vector ≥>

There is a virtual solution for each of the unit vectors r and r of the position vector, but the unit vector of the magnetic moment vector is ≥ r, since the angle between the magnetic moment vector and the position vector is defined>

And the unit vector of the position vector->

There are only the following four combinations, i.e. there are 3 virtual solutions; when the reference direction vector is known to be parallel to the direction vector of the magnetic moment of the magnetic source to be positioned in a static state, two virtual solutions can be removed according to the reference direction vector; as shown in fig. 4, when the reference direction vector is known, the imaginary solutions located in the second and fourth quadrants may be removed.

The combination is as follows:

combining two:

combining three components:

and (4) combining:

the method for determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state comprises the following steps: according to the constant of full tensor

And judging the distance from the magnetic source to be positioned to the full tensor magnetic gradient measurement assembly of the two selected measuring points in the static state by using the full tensor magnetic gradient matrix eigenvalue corresponding to the two selected measuring points, thereby determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state. This example passes through the full tensor invariant

And acquiring MT values corresponding to the two selected measuring points according to the characteristic values of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, and removing another virtual solution according to the fact that the larger the MT value is, the closer the distance between the magnetic source to be positioned and the full tensor magnetic gradient measurement assembly of the selected measuring point is, so that the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state is determined. As shown in FIG. 4, based on the full quanta invariant->

And the characteristic values of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points can indicate that the distance from the magnetic source to be positioned to the selected measuring point B1 is less than the distance from the magnetic source to be positioned to the selected measuring point B2, namely, the magnetic source to be positioned is closer to the selected measuring point B1, so that the magnetic source to be positioned is locked in a third quadrant (namely, the unit vector of the magnetic moment vector of the magnetic source to be positioned is determined).

The unit vector method for acquiring the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measuring points according to the unit vector of the magnetic moment vector of the magnetic source to be positioned comprises the following steps: and selecting a unique group of combinations from the four combinations according to the unit vectors of the magnetic moment vectors of the magnetic source to be positioned, thereby obtaining the unit vectors of the position vectors of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the two selected measuring points.

Specifically, the spatial straight line model includes:

and &>

Wherein x, y and z are initial position coordinates of the magnetic source to be positioned, A _x 、A _y 、A _z Position coordinates, P, of the full tensor magnetic gradient measurement assembly of a selected measurement point _A 、Q _A 、H _A Is a unit vector of a position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to a selected measuring point in a static state, B _x 、B _y 、B _z Position coordinates, P, of the full tensor magnetic gradient measurement assembly of another selected measurement point _B 、Q _B 、H _B The unit vector is the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to another selected measuring point in a static state; namely, the initial position coordinate of the magnetic source to be positioned is obtained by solving the intersection point of two space straight lines. Of course, corresponding data of a plurality of groups of measuring points can be substituted into the space straight line model to obtain a plurality of groups of space straight lines, and then the optimal solution of the initial position coordinates of the magnetic source to be positioned is obtained through a least square and other numerical solving methods.

As an example, a method of modeling a distance ratio between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned from a full tensor invariant includes: according to the full tensor invariants

Wherein MT is the constant of the total tensor, MT ₁ A magnetic source to be positioned in a static state is arranged at a full-tensor magnetic gradient measurement assembly of the same measuring pointResulting in a constant of total tensor, MT ₂ Is a full tensor invariant, lambda, generated by a magnetic source to be positioned in a motion state at a full tensor magnetic gradient measurement component at the same measurement point ₁ 、λ ₂ 、λ ₃ Is the eigenvalue, μ, of a full tensor magnetic gradient matrix ₀ For vacuum permeability, M is the mode of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned ₁ For measuring the distance R between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in a static state ₂ And measuring the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in the motion state.

As an example, the method for acquiring the real-time position coordinates of the magnetic source to be positioned in the motion state includes:

acquiring a unit vector of a position vector from the magnetic source to be positioned to the full tensor magnetic gradient measuring component of the selected measuring point in a moving state according to a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measuring component of the selected measuring point in the moving state (namely, according to the motion continuity of the magnetic source to be positioned, namely, according to the initial position coordinate of the magnetic source to be positioned in a static state, the quadrant of the magnetic source to be positioned in the moving state can be directly determined, so that a unit vector of a magnetic moment vector corresponding to the magnetic source to be positioned in the moving state is obtained, and further, a unit vector of a position vector from the magnetic source to be positioned to the full tensor magnetic gradient measuring component of the selected measuring point in the moving state is obtained);

obtaining the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state according to the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be positioned, the magnetic field gradient values corresponding to the same selected measuring point in different states, the initial position coordinates of the magnetic source to be positioned and the position coordinates corresponding to the selected measuring point (namely, respectively obtaining the full tensor generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component of the selected measuring point in the static state according to the magnetic field gradient values corresponding to the same selected measuring point in different statesInvariant MT ₁ And a full tensor invariable MT generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component of the selected measuring point in a motion state ₂ (ii) a And obtaining the distance R between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in a static state according to the initial position coordinates of the magnetic source to be positioned and the position coordinates corresponding to the selected measuring point ₁ (ii) a Then substituting the data into

Obtaining the distance R between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state ₂ )；

Obtaining the position vector of the magnetic source to be positioned to the full tensor magnetic gradient measurement component of the selected measuring point in the motion state according to the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state and the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point in the motion state, thereby obtaining the real-time position coordinate of the magnetic source to be positioned in the motion state (namely, the distance R between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state) ₂ Multiplying the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the selected measuring point in the motion state to obtain the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to the selected measuring point in the motion state, and then projecting the position vector in a coordinate system to obtain the real-time position coordinate of the magnetic source to be positioned in the motion state).

It should be noted that, based on the above method, this embodiment may further use the real-time position coordinate of the magnetic source to be positioned, which is measured this time, as the initial position coordinate of the next time, so as to implement real-time positioning of the magnetic source to be positioned in the movement, and thus obtain the movement trajectory of the magnetic source to be positioned.

In summary, according to the static positioning device and the static positioning method of the magnetic source of the present invention, the static positioning device, which is composed of the mounting bracket or the low-temperature container, the full-tensor magnetic gradient measurement component, the position locator and the measurement and control component, is used to obtain the initial position coordinate of the magnetic source in the static state, and then obtain the corresponding magnetic field gradient value of the magnetic source in the motion state, so as to obtain the real-time position coordinate of the magnetic source in the motion state according to the distance ratio model; when the initial position coordinates are obtained, the magnetic field gradient values of the magnetic source to the full-tensor magnetic gradient measurement assemblies of the two selected measurement points are collected, the unit vectors of the position vectors of the full-tensor magnetic gradient measurement assemblies of the magnetic source to the two selected measurement points are obtained by combining the full-tensor invariants irrelevant to the posture, meanwhile, the virtual solution is removed, and then a space straight line model is built by combining the position coordinates of the two selected measurement points to obtain the initial position coordinates of the magnetic source in a static state. Therefore, the static positioning method of the invention can realize high-precision real-time positioning of the magnetic source in the motion state only by the initial position coordinate of the magnetic source in the static state, the magnetic field gradient value of the magnetic source in the motion state and the distance ratio model without knowing the total field information of the magnetic source; meanwhile, the static positioning device and the static positioning method can give full play to the sensitivity advantage of a full-tensor magnetic gradient measurement assembly constructed based on the superconducting magnetic sensor, and realize remote high-precision real-time positioning; the static positioning device and the static positioning method are simple and quick to operate, convenient to implement and very suitable for being applied to the field of magnetic positioning measurement. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A static positioning apparatus for a magnetic source, the static positioning apparatus comprising:

a mounting bracket for providing a mounting platform;

the measurement and control assembly is electrically connected with the full tensor magnetic gradient measurement assembly and the position positioner and is used for acquiring the magnetic field gradient value and the position coordinate and positioning the magnetic source to be positioned in a motion state in real time according to acquired data; the magnetic field gradient value comprises a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measuring assembly of the two selected measuring points in a static state, and the position coordinates comprise the position coordinates of the full tensor magnetic gradient measuring assembly of the two selected measuring points; wherein,

the method for acquiring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at two selected measurement points in the static state comprises the following steps: directly acquiring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of the two selected measuring points in a static state; or, acquiring magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at different measurement points in a static state, and comparing signal-to-noise ratios of the magnetic field gradient values corresponding to the different measurement points to select two magnetic field gradient values with optimal signal-to-noise ratios, wherein the measurement points corresponding to the two selected magnetic field gradient values are used as the selected measurement points;

in the absence of a spatial distance between the full tensor magnetic gradient measurement assembly and the position locator, the method of acquiring the position coordinates of the full tensor magnetic gradient measurement assembly comprises: directly acquiring, by the position locator, position coordinates of the full tensor magnetic gradient measurement assembly;

the method of acquiring the positional coordinates of the full tensor magnetic gradient measurement assembly when there is a spatial distance between the full tensor magnetic gradient measurement assembly and the position locator comprises: acquiring position coordinates of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; and correcting the position coordinates based on the offset to acquire the position coordinates of the full tensor magnetic gradient measurement assembly.

2. The static positioning apparatus of a magnetic source of claim 1, wherein the full tensor magnetic gradient measurement assembly comprises: at least one magnetometer.

3. The apparatus of claim 1, wherein the mounting bracket comprises a cryogenic vessel configured to provide a mounting platform for the full tensor magnetic gradient measurement assembly while providing a cryogenic environment for the full tensor magnetic gradient measurement assembly.

4. The apparatus of claim 3, wherein the full tensor magnetic gradient measurement assembly comprises: at least one planar gradiometer.

5. The static positioning apparatus of a magnetic source of claim 3, wherein the cryogenic vessel comprises a cryogenic dewar.

6. The static positioning apparatus of a magnetic source of claim 1, wherein the position locator comprises: differential GPS receivers or combined inertial navigation.

7. A static positioning method of a magnetic source, the static positioning method comprising:

building a static positioning device according to any one of claims 1 to 6;

establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be positioned according to a full tensor invariant to obtain real-time position coordinates of the magnetic source to be positioned in a motion state according to the magnetic field gradient values, the initial position coordinates of the magnetic source to be positioned and the position coordinates corresponding to the selected measuring point in different states corresponding to the same selected measuring point;

the method for acquiring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at the two selected measuring points in the static state comprises the following steps: directly acquiring the gradient value of a magnetic field generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at the two selected measurement points in a static state; or magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly at different measurement points in a static state are obtained, signal-to-noise ratio comparison is carried out on the magnetic field gradient values corresponding to the different measurement points to select two magnetic field gradient values with optimal signal-to-noise ratio, wherein the measurement points corresponding to the two selected magnetic field gradient values are used as the selected measurement points;

the method of acquiring the positional coordinates of the full tensor magnetic gradient measurement assembly when there is no spatial distance between the full tensor magnetic gradient measurement assembly and the position locator comprises: directly acquiring position coordinates of the full tensor magnetic gradient measurement assembly by the position locator;

8. The method of claim 7, wherein the step of obtaining the initial position coordinates of the magnetic source to be positioned comprises:

9. The method for statically positioning a magnetic source according to claim 8, wherein the method for obtaining the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measurement points in a static state comprises:

according to the full tensor invariants

Determining what is in a quiescent stateThe unit vector of the magnetic moment vector of the magnetic source to be positioned is obtained, so that the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measuring points in a static state is obtained; wherein MT is a constant of the total tensor, λ ₁ 、λ ₂ 、λ ₃ Is a full tensor magnetic gradient matrix eigenvalue, mu ₀ And the magnetic field intensity is measured by a full-tensor magnetic gradient measurement assembly, and the magnetic field intensity is measured by a magnetic field intensity measuring assembly.

10. The method of claim 9, wherein the step of obtaining the reference direction vector comprises: and acquiring a corresponding characteristic vector according to the minimum absolute characteristic value of the full-tensor magnetic gradient matrix corresponding to the two selected measuring points, and solving a vector product of the two characteristic vectors to acquire the reference direction vector.

11. The method of claim 9, wherein determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in a static state comprises: according to the constant of full tensor

And judging the distance from the magnetic source to be positioned to the full tensor magnetic gradient measurement assembly of the two selected measuring points in the static state by using the full tensor magnetic gradient matrix eigenvalue corresponding to the two selected measuring points, thereby determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state.

12. The method of claim 8, wherein the spatial line model comprises:

wherein x, y and z are initial position coordinates of the magnetic source to be positioned, A _x 、A _y 、A _z Is the full tensor magnetic gradient measurement of a selected measurement pointPosition coordinates of the component, P _A 、Q _A 、H _A Is a unit vector of a position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to a selected measuring point in a static state, B _x 、B _y 、B _z Position coordinates, P, of the full tensor magnetic gradient measurement assembly of another selected measurement point _B 、Q _B 、H _B Is the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to another selected measuring point in a static state.

13. The method of any of claims 7 to 12, wherein the method of modeling the distance ratio between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned from the full tensor invariants comprises: according to the full tensor invariants

Wherein MT is the constant of the total tensor, MT ₁ For the full tensor invariant, MT, generated by a magnetic source to be positioned in a static state at a full tensor magnetic gradient measurement assembly at the same measuring point ₂ Is a full tensor invariant, lambda, generated by a magnetic source to be positioned in a motion state at a full tensor magnetic gradient measurement component at the same measurement point ₁ 、λ ₂ 、λ ₃ Is the eigenvalue, μ, of a full tensor magnetic gradient matrix ₀ For vacuum permeability, M is the mode of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned ₁ For measuring the distance R between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in a static state ₂ And measuring the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be positioned in the motion state.

14. The static positioning method of the magnetic source as claimed in claim 13, wherein the method of obtaining the real-time position coordinates of the magnetic source to be positioned in the moving state comprises:

acquiring a unit vector of a position vector of the magnetic source to be positioned to the full tensor magnetic gradient measurement assembly of the selected measuring point in the motion state according to a magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of the selected measuring point in the motion state;