CN109633541B - Magnetic source positioning device and magnetic source positioning method - Google Patents
Magnetic source positioning device and magnetic source positioning method Download PDFInfo
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- CN109633541B CN109633541B CN201910061772.9A CN201910061772A CN109633541B CN 109633541 B CN109633541 B CN 109633541B CN 201910061772 A CN201910061772 A CN 201910061772A CN 109633541 B CN109633541 B CN 109633541B
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 238000005259 measurement Methods 0.000 claims abstract description 189
- 239000011159 matrix material Substances 0.000 claims description 28
- 230000035699 permeability Effects 0.000 claims description 6
- 238000012935 Averaging Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
- G01S5/145—Using a supplementary range measurement, e.g. based on pseudo-range measurements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention provides a magnetic source positioning device and a magnetic source positioning method, wherein the magnetic source positioning device comprises: the mounting bracket is used for providing a mounting platform; the full-tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring a 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 information of the full-tensor magnetic gradient measurement assembly under a geographic coordinate system; 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 magnetic field gradient values and position information and positioning a magnetic source to be positioned according to the acquired data; the motion carrier is arranged below the mounting bracket and used for carrying the mounting bracket to perform position movement so as to realize the position movement of the full tensor magnetic gradient measurement assembly. The invention solves the problem that the existing positioning method has virtual solution or is limited by the length of a base line, so that the long-distance high-precision positioning can not be realized.
Description
Technical Field
The invention belongs to the field of magnetic method detection, and particularly relates to a magnetic source positioning device and a magnetic source positioning method.
Background
Full tensor magnetic gradients describe the rate of change information of a magnetic field vector in three dimensions, i.e., the gradients of three components of the magnetic field vector in three directions in space. The measurement result of the full tensor magnetic gradient has the advantages of being little influenced by the magnetization direction, being capable of reflecting vector magnetic moment information of a target body, being capable of better inverting field source parameters (azimuth, magnetic moment and the like), and the like, so that the field source can be positioned and tracked, and the resolution of the magnetic source body is improved.
In the prior art, there are many methods for positioning a field source (magnetic source) by using a full tensor magnetic gradient, for example, solving a distance and a magnetic moment mode of a magnetic dipole relative to a measurement point by using a characteristic value and a total field of a full tensor magnetic gradient matrix, then solving a position of the magnetic dipole and a unit vector of a magnetic moment vector by using a geometric invariant, and finally obtaining the position of the magnetic source by synthesizing the unit vector and the mode after removing the imaginary solution of the position of the magnetic dipole and the magnetic moment vector; although the method provides a magnetic source positioning method based on full tensor invariants, the virtual solution exists, the virtual solution needs to be removed after judgment according to prior conditions, and in some cases, the prior conditions are not necessarily sufficient to support the removal of the virtual solution, for example, the virtual solution cannot be removed through the magnetic source above and below the ground in a mine hole; in addition, the method also needs the total field information of the known magnetic source, and in practical situations, the total field information of the magnetic source is difficult to accurately obtain. For example, the characteristic values of magnetic gradient tensors at the central points of six planes of a regular hexahedron in a measurement system are solved, the characteristic values are combined according to a certain relation to eliminate elliptic coefficients, new invariants of the six planes are obtained, gradient values of the new invariants are solved, and targets are positioned according to the gradient values; although the method provides a magnetic source positioning method based on full tensor invariance, eight triaxial magnetometers are needed, the method is only suitable for miniaturized low-precision magnetometers, positioning precision is limited by the baseline length between magnetometers, long-distance magnetic source positioning cannot be achieved, and particularly for high-precision superconducting magnetic sensors, the method is limited by Dewar size, and the advantage of high sensitivity of the superconducting magnetic sensors cannot be exerted.
It can be seen that the existing positioning method has no problem of virtual solution, or is limited by the length of the base line, so that long-distance high-precision positioning cannot be realized; therefore, how to provide an efficient magnetic source positioning device and a magnetic source positioning method are urgent problems to be solved by those skilled in the art.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a magnetic source positioning device and a magnetic source positioning method, which are used for solving the problem that the existing positioning method has a virtual solution or is limited by a baseline length, so that long-distance high-precision positioning cannot be realized.
To achieve the above and other related objects, the present invention provides a magnetic source positioning device including:
the mounting bracket is used for providing a mounting platform;
the full-tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring a magnetic field gradient value generated by a 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 information of the full tensor magnetic gradient measurement assembly under a geographic coordinate system;
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 information and positioning the magnetic source to be positioned according to the acquired data;
and the motion carrier is arranged below the mounting bracket and used for carrying the mounting bracket to perform position movement so as to realize the position movement of the full tensor magnetic gradient measurement assembly.
Optionally, the full tensor magnetic gradient measurement assembly includes: at least one magnetometer.
Optionally, the mounting bracket comprises 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 includes: at least one planar gradiometer.
Optionally, the cryogenic vessel comprises a cryogenic dewar.
Optionally, the position locator includes: differential GPS receiver, combined inertial navigation or differential GPS receiver with inclinometer.
The invention also provides a magnetic source positioning method, which comprises the following steps:
constructing the magnetic source positioning device;
the position of the full tensor magnetic gradient measurement assembly is moved through the motion carrier so as to obtain position information measurement values of the full tensor magnetic gradient measurement assembly of different measuring points and magnetic field gradient measurement values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of different measuring points;
and establishing a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned at any two measuring points according to the full tensor invariance, so as to obtain the position coordinates of the magnetic source to be positioned under a geographic coordinate system through the position information measurement values and the magnetic field gradient measurement values of different measuring points, thereby realizing the positioning of the magnetic source to be positioned.
Optionally, the method for obtaining the position information measurement value of the full tensor magnetic gradient measurement assembly comprises the following steps: acquiring position information of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; and correcting the position information of the position localizer based on the offset to acquire the position information of the full tensor magnetic gradient measurement assembly.
Optionally, the method for obtaining the distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned comprises the following steps: based on full tensor invariant CT 2 ＝G xx 2 +G yy 2 +G zz 2 +2*G xy 2 +2*G xz 2 +2*G yz 2 Acquiring the full tensor magnetic gradient measurement assemblyDistance ratio model between the magnetic source to be positioned and the magnetic source to be positioned wherein ,CT is Fei Luobei Niunos norm of full tensor magnetic gradient matrix, CT 1 Fei Luobei Niunos norm of full tensor magnetic gradient matrix at first measuring point, CT 2 Fei Luobei Nius norm of full tensor magnetic gradient matrix at second measuring point, G xx 、G yy 、G zz 、G xy 、G xz 、G yz For the component values of the full-tensor magnetic gradient matrix, R is the distance between the full-tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 For the distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned at the second measuring point, theta is the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component 1 For the included angle theta between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measurement component at the first measuring point 2 For the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component at the second measuring point, mu 0 Is vacuum magnetic permeability, M is the mode of magnetic moment of the magnetic source to be positioned, lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix.
Optionally, the method for obtaining the distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned comprises the following steps: from the full tensor invarianceObtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned>Wherein MT is the full tensor invariant, MT 1 Is the firstFull tensor invariance at one measurement point, MT 2 Is the full tensor invariant at the second measuring point lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix, mu 0 Is vacuum magnetic permeability, M is a mode of magnetic moment of the magnetic source to be positioned, R is distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 The distance between the component and the magnetic source to be positioned is measured for the full tensor magnetic gradient at the second measuring point.
Optionally, the magnetic source positioning method further includes: and repeating the steps to obtain the position coordinates of a plurality of groups of magnetic sources to be positioned, and obtaining the final position coordinates by averaging the plurality of groups of position coordinates.
As described above, the magnetic source positioning device and the magnetic source positioning method provided by the invention are characterized in that the magnetic source positioning device consisting of the mounting bracket or the low-temperature container, the full tensor magnetic gradient measurement assembly, the position positioner, the measurement and control assembly and the motion carrier is utilized, the distance ratio model between the full tensor magnetic gradient measurement assembly of any two measuring points and the magnetic source to be positioned is obtained through the full tensor invariant which is irrelevant to the gesture, and then the position coordinates of the magnetic source to be positioned under the geographic coordinate system are obtained through the position information measurement values and the magnetic field gradient measurement values of different measuring points, so that the positioning of the magnetic source to be positioned is simply and rapidly realized; therefore, the positioning device and the positioning method do not need to know the total field information of the magnetic source to be positioned, and the position coordinates of the magnetic source to be positioned can be obtained only through a plurality of groups of measured values, and no virtual solution exists; meanwhile, the positioning device and the positioning method can fully play the sensitivity advantage of the full tensor magnetic gradient measurement assembly constructed based on the superconducting magnetic sensor, and realize long-distance high-precision positioning; the positioning device and the 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 positioning device according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a magnetic source positioning device according to a second embodiment of the invention.
FIG. 3 is a flowchart of a method for positioning a magnetic source according to a third embodiment of the invention.
Description of element reference numerals
100. Magnetic source positioning device
101. Mounting bracket
102. Full tensor magnetic gradient measurement assembly
103. Position locator
104. Measurement and control assembly
105. Exercise carrier
200. Magnetic source to be positioned
300. Magnetic source positioning device
301. Cryogenic container
302. Full tensor magnetic gradient measurement assembly
303. Position locator
304. Measurement and control assembly
305. Exercise carrier
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
Please refer to fig. 1 to 3. It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings rather than the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Example 1
As shown in fig. 1, the present embodiment provides a magnetic source positioning device 100, the magnetic source positioning device 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 a magnetic field gradient value generated by the magnetic source 200 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 assembly 102, for measuring position information of the full tensor magnetic gradient measurement assembly 102 in a geographic coordinate system;
the measurement and control assembly 104 is electrically connected to the full tensor magnetic gradient measurement assembly 102 and the position locator 103, and is used for acquiring the magnetic field gradient value and the position information and positioning the magnetic source 200 to be positioned according to the acquired data;
and the motion carrier 105 is arranged below the mounting bracket 101 and is used for carrying the mounting bracket 101 to perform position movement so as to realize the position movement of the full tensor magnetic gradient measurement assembly 102.
As an example, the mounting bracket 101 may be any structure capable of achieving a mounting and fixing function, and the specific structure of the mounting bracket is not limited in this embodiment. Specifically, as shown in fig. 1, the mounting bracket 101 includes three levels, wherein the global tensor magnetic gradient measurement assembly 102 is mounted on a first level of the mounting bracket 101 (i.e., a bottom of the mounting bracket 101), the position locator 103 is mounted on a third level of the mounting bracket 101 (i.e., an upper portion of the mounting bracket 101), and the measurement and control assembly 104 is mounted on a second level of the mounting bracket 101 (i.e., a middle portion of the mounting bracket 101); of course, in other embodiments, the levels of the full-tensor magnetic gradient measurement assembly 102, the position locator 103 and the measurement and control assembly 104 may be interchanged, and the embodiment does not limit the vertical positional relationship among the full-tensor magnetic gradient measurement assembly 102, the position locator 103 and the measurement and control assembly 104, and the position locator 103 and the measurement and control assembly 104 may not be mounted on the mounting bracket 101, i.e. the position locator 103 and the measurement and control assembly 104 are mounted outside the mounting bracket 101.
As an example, the full tensor magnetic gradient measurement assembly 102 includes: at least one magnetometer is built 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 magnetometers and the physical configuration of the building, that is, the final structure of the full-tensor magnetic gradient measurement assembly 102 formed by building different numbers of magnetometers in different physical configurations is different, but the positioning device of the present embodiment is applicable to any final structure of the full-tensor magnetic gradient measurement assembly 102. It is particularly noted that since the full tensor magnetic gradient measurement assembly 102 of the present embodiment is a non-superconducting device, it operates in a normal temperature environment.
As an example, the position locator 103 includes: differential GPS receiver, combined inertial navigation or differential GPS receiver with inclinometer. Specifically, when there is no spatial distance between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103, a differential GPS receiver is used to measure the position information of the full-tensor magnetic gradient measurement assembly 102, i.e. the position information of the differential GPS receiver is the position information of the full-tensor magnetic gradient measurement assembly; when a spatial distance exists between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103, a differential GPS receiver with a combined inertial navigation or an additional inclinometer is adopted to measure the position information of the full-tensor magnetic gradient measurement assembly 102, namely, the offset between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103 is directly measured by utilizing the coordinate point offset setting function of the combined inertial navigation, the measured position information (namely, the position information of the combined inertial navigation) is corrected based on the offset, so that the position information of the full-tensor magnetic gradient measurement assembly 102 is obtained, or the inclination angle between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103 is measured by the inclinometer, meanwhile, the offset between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103 is calculated by combining the spatial distance between the full-tensor magnetic gradient measurement assembly 102 and the position locator 103, then the differential GPS receiver is adopted to measure the position information of the full-tensor magnetic gradient measurement assembly, and finally the measured position information is corrected based on the measured offset, so that the position information of the full-tensor magnetic gradient measurement assembly 102 is obtained. It should be noted that, measuring position information by the differential GPS receiver with an inclinometer, measuring offset, and correcting position information based on offset by combining inertial navigation, measuring offset, and correcting position information by the differential GPS receiver with an inclinometer are well known to those skilled in the art, and will not be described here.
As an example, the measurement and control component 104 is any existing device capable of acquiring and processing magnetic field gradient values and position information, and the structure of the measurement and control component 104 is not limited in this embodiment.
As an example, the motion carrier 105 is any structure that can realize the position movement, and the specific structure of the motion carrier 105 is not limited in this embodiment, and the manner in which the position movement of the motion carrier 105 is realized is not limited in this embodiment.
Example two
As shown in fig. 2, the present embodiment provides a magnetic source positioning device 300, where the magnetic source positioning device 300 includes:
a cryogenic vessel 301 for providing a mounting platform while providing a cryogenic environment;
a full tensor magnetic gradient measurement assembly 302, disposed in the cryogenic container 301, for measuring a magnetic field gradient value generated by the magnetic source 200 to be positioned at the full tensor magnetic gradient measurement assembly 302;
a position locator 303, rigidly connected to the full tensor magnetic gradient measurement assembly 302, for measuring position information of the full tensor magnetic gradient measurement assembly 302 in a geographic coordinate system;
the measurement and control assembly 304 is electrically connected to the full tensor magnetic gradient measurement assembly 302 and the position locator 303, and is configured to collect the magnetic field gradient value and the position information, and position the magnetic source 200 to be positioned according to the collected data;
the motion carrier 305 is disposed below the mounting bracket 301, and is used for carrying the mounting bracket 301 to perform a position movement, so as to implement a position movement of the full tensor magnetic gradient measurement assembly 302.
By way of example, the cryogenic vessel 301 comprises a cryogenic dewar, which is well known to those skilled in the art and will not be described in detail herein.
As an example, the full tensor magnetic gradient measurement component 302 includes: at least one planar gradiometer is built in a physical configuration to form the full tensor magnetic gradient measurement assembly 302. It should be noted that the final structure of the full-tensor magnetic gradient measurement assembly 302 is determined by the number of planar gradiometers and the physical configuration of the building, that is, different numbers of planar gradiometers are built with different physical configurations to form different final structures of the full-tensor magnetic gradient measurement assembly 302, but the positioning device of the present embodiment is applicable to any final structure of the full-tensor magnetic gradient measurement assembly 302. It is particularly noted that since the full tensor magnetic gradient measurement assembly 302 of the present embodiment is a superconducting device, it operates in a low temperature environment.
As an example, the position locator 303 includes: differential GPS receiver, combined inertial navigation or differential GPS receiver with inclinometer. Specifically, when there is no spatial distance between the full-tensor magnetic gradient measurement component 302 and the position locator 303, a differential GPS receiver is used to measure the position information of the full-tensor magnetic gradient measurement component 302, that is, the position information of the differential GPS receiver is the position information of the full-tensor magnetic gradient measurement component; when a spatial distance exists between the full-tensor magnetic gradient measurement assembly 302 and the position locator 303, a differential GPS receiver with a combined inertial navigation or an additional inclinometer is adopted to measure the position information of the full-tensor magnetic gradient measurement assembly 302, namely, the offset between the full-tensor magnetic gradient measurement assembly 302 and the position locator 303 is directly measured by utilizing the coordinate point offset setting function of the combined inertial navigation, the measured position information (namely, the position information of the combined inertial navigation) is corrected based on the offset, so that the position information of the full-tensor magnetic gradient measurement assembly 302 is obtained, or the inclination angle between the full-tensor magnetic gradient measurement assembly 302 and the position locator 303 is measured by the inclinometer, meanwhile, the offset between the full-tensor magnetic gradient measurement assembly 302 and the position locator 303 is calculated by combining the spatial distance between the full-tensor magnetic gradient measurement assembly 302 and the position locator 303, then the differential GPS receiver is adopted to measure the position information of the full-tensor magnetic gradient measurement assembly, and finally the measured position information is corrected based on the measured offset, so that the position information of the full-tensor magnetic gradient measurement assembly 302 is obtained. It should be noted that, measuring position information by the differential GPS receiver with an inclinometer, measuring offset, and correcting position information based on offset by combining inertial navigation, measuring offset, and correcting position information by the differential GPS receiver with an inclinometer are well known to those skilled in the art, and will not be described in detail herein.
As an example, the measurement and control component 304 is any existing device capable of acquiring and processing magnetic field gradient values and position information, and the structure of the measurement and control component 304 is not limited in this embodiment.
As an example, the motion carrier 305 is any structure that can realize the position movement, and the specific structure of the motion carrier 305 is not limited in this embodiment, and the manner in which the motion carrier 305 realizes the position movement is not limited in this embodiment.
Example III
As shown in fig. 3, the present embodiment provides a magnetic source positioning method, which includes:
constructing the magnetic source positioning device according to the first embodiment or the second embodiment;
the position of the full tensor magnetic gradient measurement assembly is moved through the motion carrier so as to obtain position information measurement values of the full tensor magnetic gradient measurement assembly of different measuring points and magnetic field gradient measurement values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of different measuring points;
and establishing a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned at any two measuring points according to the full tensor invariance, so as to obtain the position coordinates of the magnetic source to be positioned under a geographic coordinate system through the position information measurement values and the magnetic field gradient measurement values of different measuring points, thereby realizing the positioning of the magnetic source to be positioned.
It should be noted that, in the embodiment, the composition and construction of the magnetic source positioning device are specifically referred to the first embodiment or the second embodiment, and the composition and construction of the magnetic source positioning device are not described in this embodiment.
As an example, when there is no spatial distance between the full-tensor magnetic gradient measurement component and the position locator, the position information measurement value of the full-tensor magnetic gradient measurement component may be directly obtained through the position locator (such as a differential GPS receiver), that is, the position information of the position locator is the position information of the full-tensor magnetic gradient measurement component. The method for acquiring the position information measured value of the full-tensor magnetic gradient measurement assembly when the spatial distance exists between the full-tensor magnetic gradient measurement assembly and the position locator comprises the following steps: acquiring position information of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; and correcting the position information of the position localizer based on the offset to acquire the position information of the full tensor magnetic gradient measurement assembly. Specifically, the offset between the full tensor magnetic gradient measurement component and the position locator is directly measured by utilizing the coordinate point offset setting function of the combined inertial navigation, then the position information of the full tensor magnetic gradient measurement component is measured by the combined inertial navigation, and finally the position information is corrected based on the offset to obtain the position information measurement value of the full tensor magnetic gradient measurement component; or the inclination angle between the full tensor magnetic gradient measurement assembly and the position locator is measured through an inclinometer, the offset between the full tensor magnetic gradient measurement assembly and the position locator is calculated by combining the space distance between the full tensor magnetic gradient measurement assembly and the position locator, the position information of the full tensor magnetic gradient measurement assembly is measured through a differential GPS receiver, and finally the position information is corrected based on the offset to obtain the position information measurement value of the full tensor magnetic gradient measurement assembly. It should be noted that, measuring position information by differential GPS receiver or combined inertial navigation, measuring offset by using a function of setting offset of coordinate point offset of combined inertial navigation, measuring tilt angle by using a tilt meter, calculating offset according to tilt angle and space distance, and correcting position information according to offset are well known to those skilled in the art, and will not be described herein.
As an example, the measurement of the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly by the full tensor magnetic gradient measurement assembly is well known to those skilled in the art, and thus will not be described in detail herein.
As an example, the method for obtaining the distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned includes: based on full tensor invariant CT 2 ＝G xx 2 +G yy 2 +G zz 2 +2*G xy 2 +2*G xz 2 +2*G yz 2 Obtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned wherein ,/>CT is Fei Luobei Niunos norm of full tensor magnetic gradient matrix, CT 1 Fei Luobei Niunos norm of full tensor magnetic gradient matrix at first measuring point, CT 2 Fei Luobei Nius norm of full tensor magnetic gradient matrix at second measuring point, G xx 、G yy 、G zz 、G xy 、G xz 、G yz For the component values of the full-tensor magnetic gradient matrix, R is the distance between the full-tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 For the distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned at the second measuring point, theta is the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component 1 For the included angle theta between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measurement component at the first measuring point 2 For the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component at the second measuring point, mu 0 Is vacuum magnetic permeability, M is the mode of magnetic moment of the magnetic source to be positioned, lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix.
As another example, a method of obtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned includes: from the full tensor invarianceObtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned>Wherein MT is the full tensor invariant, MT 1 For the full tensor invariant at the first measurement point, MT 2 Is the full tensor invariant at the second measuring point lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix, mu 0 Is vacuum magnetic permeability, M is a mode of magnetic moment of the magnetic source to be positioned, R is distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 The distance between the component and the magnetic source to be positioned is measured for the full tensor magnetic gradient at the second measuring point.
As an example, the position information measurement values and the measurement points by different measurement pointsThe method for acquiring the position coordinates of the magnetic source to be positioned by using the magnetic field gradient measurement value comprises the following steps: acquiring the full-tensor magnetic gradient component values corresponding to different measuring points and the characteristic values of a full-tensor magnetic gradient matrix according to a full-tensor magnetic gradient theoretical formula and the magnetic field gradient measured values of different measuring points (namely substituting the magnetic field gradient measured values of different measuring points into the full-tensor magnetic gradient theoretical formula to obtain the full-tensor magnetic gradient component values corresponding to different measuring points so as to obtain the characteristic values of the full-tensor magnetic gradient matrix); then according to the full tensor invariant CT 2 ＝G xx 2 +G yy 2 +G zz 2 +2*G xy 2 +2*G xz 2 +2*G yz 2 The full tensor magnetic gradient component values of different measuring points are used for obtaining Fei Luobei Niousi norms corresponding to the different measuring points (namely, the full tensor magnetic gradient component values of the different measuring points are substituted into the full tensor invariant, so that CT values corresponding to the different measuring points can be obtained); then according to the distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned at any two measuring pointsThe relation among Fei Luobei Nikusnezoff norms corresponding to different measuring points, included angles of magnetic moment of magnetic source to be positioned and position vector of full tensor magnetic gradient measuring component and characteristic values of full tensor magnetic gradient matrix of different measuring points is obtained, and the distance ratio relation between the full tensor magnetic gradient measuring component and the magnetic source to be positioned at any two measuring points is obtained (namely CT values corresponding to different measuring points and based on->The obtained θ substitution distance ratio model of different measuring points>Thereby obtaining the distance ratio of the two measuring points); and finally, acquiring the position coordinates of the magnetic source to be positioned through a distance formula or a least square method and other algorithms between two measuring points in the space analytic geometry. It should be noted that the magnetic field gradient is calculated by the full tensor magnetic gradient theory formulaThe acquisition of the full-tensor magnetic gradient component values from the metric values, and thus the eigenvalues of the full-tensor magnetic gradient matrix, are well known to those skilled in the art and will not be described in detail herein.
Specifically, a distance formula between two measuring points in the geometry is analyzed through spaceAcquiring the position coordinates of the magnetic source to be positioned; wherein x, y and z are the position coordinates of the magnetic source to be positioned, a i 、b i 、c i A is the position coordinate of the full tensor magnetic gradient measurement assembly at the first measuring point j 、b j 、c j The position coordinates of the full tensor magnetic gradient measurement assembly at the second measuring point are obtained; the corresponding data and the distance ratio of the four measuring points are substituted into the formula to obtain three sets of equations, and the position coordinates of the magnetic source to be positioned can be obtained by solving the equations. Of course, the corresponding data and the distance ratio of the plurality of measuring points can be substituted into the formula to obtain a plurality of groups of equations, and the optimal solution of the position coordinates of the magnetic source to be positioned can be obtained through a least square and other numerical solution method.
As another example, the method for obtaining the position coordinates of the magnetic source to be positioned by the position information measurement values and the magnetic field gradient measurement values of different measuring points comprises the following steps: acquiring the full-tensor magnetic gradient component values corresponding to different measuring points according to the full-tensor magnetic gradient theoretical formula and the magnetic field gradient measured values of the different measuring points, so as to acquire the characteristic values of a full-tensor magnetic gradient matrix (namely substituting the magnetic field gradient measured values of the different measuring points into the full-tensor magnetic gradient theoretical formula to obtain the full-tensor magnetic gradient component values corresponding to the different measuring points, so as to acquire the characteristic values of the full-tensor magnetic gradient matrix); then according to the full tensor invariantAnd the characteristic values of the full tensor magnetic gradient matrix corresponding to the different measuring points are used for obtaining MT corresponding to the different measuring points (namely, substituting the characteristic values of the full tensor magnetic gradient matrix of the different measuring points into the full tensor invariant to obtain MT values corresponding to the different measuring points); then according to the whole of any two measuring pointsDistance ratio model between tensor magnetic gradient measuring component and magnetic source to be positioned>MT corresponding to different measuring points is obtained, and the distance ratio relation between the full tensor magnetic gradient measuring component and the magnetic source to be positioned at the two measuring points is obtained (namely MT values corresponding to different measuring points are substituted into a distance ratio model->Thereby obtaining the distance ratio of the two measuring points); and finally, acquiring the position coordinates of the magnetic source to be positioned through a distance formula or a least square method and other algorithms between two measuring points in the space analytic geometry. It should be noted that, the feature values of the full-tensor magnetic gradient matrix are obtained by obtaining the full-tensor magnetic gradient component values through the full-tensor magnetic gradient theoretical formula and the magnetic field gradient values, which are well known to those skilled in the art, and therefore are not described herein.
Specifically, a distance formula between two measuring points in the geometry is analyzed through spaceAcquiring the position coordinates of the magnetic source to be positioned; wherein x, y and z are the position coordinates of the magnetic source to be positioned, a i 、b i 、c i A is the position coordinate of the full tensor magnetic gradient measurement assembly at the first measuring point j 、b j 、c j The position coordinates of the full tensor magnetic gradient measurement assembly at the second measuring point are obtained; the corresponding data and the distance ratio of the four measuring points are substituted into the formula to obtain three sets of equations, and the position coordinates of the magnetic source to be positioned can be obtained by solving the equations. Of course, the corresponding data and the distance ratio of the plurality of measuring points can be substituted into the formula to obtain a plurality of groups of equations, and the optimal solution of the position coordinates of the magnetic source to be positioned can be obtained through a least square and other numerical solution method.
As an example, the magnetic source positioning method further includes: and repeating the steps to obtain the position coordinates of a plurality of groups of magnetic sources to be positioned, and obtaining the final position coordinates by averaging the plurality of groups of position coordinates.
In summary, according to the magnetic source positioning device and the magnetic source positioning method, the magnetic source positioning device composed of the mounting bracket or the low-temperature container, the full tensor magnetic gradient measurement assembly, the position positioner, the measurement and control assembly and the motion carrier is utilized, the distance ratio model between the full tensor magnetic gradient measurement assembly of any two measuring points and the magnetic source to be positioned is obtained through the full tensor invariant which is irrelevant to the gesture, and then the position coordinates of the magnetic source to be positioned under the geographic coordinate system are obtained through the position information measurement values and the magnetic field gradient measurement values of different measuring points, so that the positioning of the magnetic source to be positioned is simply and rapidly realized; therefore, the positioning device and the positioning method do not need to know the total field information of the magnetic source to be positioned, and the position coordinates of the magnetic source to be positioned can be obtained only through a plurality of groups of measured values, and no virtual solution exists; meanwhile, the positioning device and the positioning method can fully play the sensitivity advantage of the full tensor magnetic gradient measurement assembly constructed based on the superconducting magnetic sensor, and realize long-distance high-precision positioning; the positioning device and the 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 above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. The magnetic source positioning method is characterized by comprising the following steps of:
constructing a magnetic source positioning device, wherein the magnetic source positioning device comprises:
the mounting bracket is used for providing a mounting platform;
the full-tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring a magnetic field gradient value generated by a 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 information of the full tensor magnetic gradient measurement assembly under a geographic coordinate system;
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 information and positioning the magnetic source to be positioned according to the acquired data;
the motion carrier is arranged below the mounting bracket and used for carrying the mounting bracket to perform position movement so as to realize the position movement of the full tensor magnetic gradient measurement assembly;
the position of the full tensor magnetic gradient measurement assembly is moved through the motion carrier so as to obtain the position information of the full tensor magnetic gradient measurement assembly of different measuring points and the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly of different measuring points;
and establishing a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned at any two measuring points according to the full tensor invariance, so as to obtain the position coordinates of the magnetic source to be positioned under a geographic coordinate system through the position information and the magnetic field gradient values of different measuring points, thereby realizing the positioning of the magnetic source to be positioned.
2. The method of claim 1, wherein the method of obtaining positional information of the full tensor magnetic gradient measurement assembly comprises: acquiring position information of the position locator, and acquiring offset between the full tensor magnetic gradient measurement assembly and the position locator; and correcting the position information of the position localizer based on the offset to acquire the position information of the full tensor magnetic gradient measurement assembly.
3. The method of claim 1, wherein the method of obtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned comprises: based on full tensor invariant CT 2 ＝G xx 2 +G yy 2 +G zz 2 +2*G xy 2 +2*G xz 2 +2*G yz 2 Obtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned wherein ,
CT is Fei Luobei Niunos norm of full tensor magnetic gradient matrix, CT 1 Fei Luobei Niunos norm of full tensor magnetic gradient matrix at first measuring point, CT 2 Fei Luobei Nius norm of full tensor magnetic gradient matrix at second measuring point, G xx 、G yy 、G zz 、G xy 、G xz 、G yz For the component values of the full-tensor magnetic gradient matrix, R is the distance between the full-tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 For the distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned at the second measuring point, theta is the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component 1 For the included angle theta between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measurement component at the first measuring point 2 For the included angle between the magnetic moment of the magnetic source to be positioned and the position vector of the full tensor magnetic gradient measuring component at the second measuring point, mu 0 Is vacuum magnetic permeability, M is the mode of magnetic moment of the magnetic source to be positioned, lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix.
4. The method of claim 1, wherein the method of obtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned comprises: from the full tensor invarianceObtaining a distance ratio model between the full tensor magnetic gradient measurement assembly and the magnetic source to be positioned>Wherein MT is the full tensor invariant, MT 1 For the full tensor invariant at the first measurement point, MT 2 Is the full tensor invariant at the second measuring point lambda 1 、λ 2 、λ 3 Is the eigenvalue of the full tensor magnetic gradient matrix, mu 0 Is vacuum magnetic permeability, M is a mode of magnetic moment of the magnetic source to be positioned, R is distance between the full tensor magnetic gradient measuring component and the magnetic source to be positioned, R 1 R is the distance between the full tensor magnetic gradient measuring component at the first measuring point and the magnetic source to be positioned 2 The distance between the component and the magnetic source to be positioned is measured for the full tensor magnetic gradient at the second measuring point.
5. A magnetic source positioning method according to any one of claims 1 to 4, further comprising: and repeating the steps to obtain the position coordinates of a plurality of groups of magnetic sources to be positioned, and obtaining the final position coordinates by averaging the plurality of groups of position coordinates.
6. The method of claim 1, wherein the full tensor magnetic gradient measurement assembly comprises: at least one magnetometer.
7. The method of claim 1, wherein the mounting bracket comprises a cryogenic container 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.
8. The method of claim 7, wherein the full tensor magnetic gradient measurement assembly comprises: at least one planar gradiometer.
9. The method of claim 7, wherein the cryogenic vessel comprises a cryogenic dewar.
10. A magnetic source positioning method according to any one of claims 1, 6 to 9, wherein the position locator comprises: differential GPS receiver, combined inertial navigation or differential GPS receiver with inclinometer.
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