CN109725360A - One-point positioning method based on magnetic gradient tensor invariant - Google Patents
One-point positioning method based on magnetic gradient tensor invariant Download PDFInfo
- Publication number
- CN109725360A CN109725360A CN201910071047.XA CN201910071047A CN109725360A CN 109725360 A CN109725360 A CN 109725360A CN 201910071047 A CN201910071047 A CN 201910071047A CN 109725360 A CN109725360 A CN 109725360A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- gradient tensor
- target
- point
- magnetic target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Measuring Magnetic Variables (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention belongs to magnetic detection technical fields, are related to a kind of novel magnetic object localization method.This method is derived from using magnetic gradient tensor invariant, the position of magnetic target can be uniquely solved in ground magnetic environment, and have the characteristic not influenced by attitudes vibration.Mentioned method solves magnetic target position using the vertical relation between measurement point and the position vector feature vector corresponding with the magnetic gradient tensor the smallest characteristic value of matrix absolute value of magnetic target formation.Since this vertical relation is derived from by gradient tensor invariant, mentioned localization method has the advantage not changed with coordinate system, is suitable for mobile platform.The present invention need to only measure the magnetic gradient tensor of 1 position, and solution procedure is simple, and solving speed is fast, and convenient to carry out.Localization method of the invention, because being derived from using magnetic gradient tensor data, it is possible to be applied in ground magnetic environment, and solving result is unique.
Description
Technical field
The invention belongs to magnetic detection technical fields, are related to a kind of novel magnetic object localization method.This method utilizes magnetic ladder
Degree tensor invariant is derived from, and the position of magnetic target can be uniquely solved in ground magnetic environment, and have not by appearance
The characteristic that state variation influences.
Background technique
Due to the presence in earth's magnetic field, ferrimagnet is made to be magnetized, to show magnetic characteristic, generates magnetic field, in this way
Magnetic field superposition will cause earth magnetism field distortion on earth's magnetic field, this phenomenon is known as magnetic anomaly phenomenon.Magnetic anomaly detection skill
Art utilizes magnetic anomaly phenomenon, and magnetic target is positioned and recognized by observing and analyzing anomalous field.Magnetic anomaly detection skill
Art due to have many advantages, such as it is light it is easy, high-efficient, at low cost, concealment is good, anti-interference strong, have high military significance
With civilian value.
The development of magnetic anomaly detection technology mainly experienced the total measurement in magnetic field, magnetic-field component and gradiometry, magnetic gradient
Tensor measuring three phases.Magnetic gradient Tensor measuring has overwhelming advantage compared to traditional magnetic-field measurement, maximum excellent
Point is the interference that can effectively overcome earth's magnetic field, improves the positioning accuracy of magnetic target.Magnetic gradient tensor localization method can be real
Now to the accurate positioning of target, but it is higher to the movement needs of carrying platform, and the motor-driven of platform can bring positioning result very greatly
Interference.
Magnetic gradient tensor invariant, be magnetic gradient tensor carry out certain operation obtain it is some not with coordinate system change and become
The scalar of change, common invariant has mark, characteristic value, Frobenius norm of magnetic gradient tensor etc., because magnetic gradient tensor is not
Variable has the property not changed with the variation of coordinate system, therefore is very suitable for positioning of the mobile platform to target,
Through becoming research hotspot both domestic and external.
Summary of the invention
The technical problem to be solved by the present invention is to propose a kind of locating magnetic objects method suitable for mobile platform.Institute
Method is proposed using the position vector and the smallest characteristic value pair of magnetic gradient tensor matrix absolute value of measurement point and magnetic target formation
The vertical relation between feature vector answered, solves magnetic target position.Since this vertical relation is by gradient tensor
Invariant is derived from, therefore mentioned localization method has the advantage not changed with coordinate system, is suitable for mobile platform.
The present invention is achieved by the following technical solutions: a kind of locating magnetic objects method, magnetic target A contain ferromagnetic
Property substance, be magnetized in earth magnetic field, generate magnetic field.Cartesian coordinate system is established centered on carrier, magnetic target A is located at
P0Point has any one measurement point P in the magnetic field of magnetic target A1Point, P1It puts and is the position vector between magnetic target A
r1。
Measure P1The gradient tensor G of point1, and solve the characteristic value of this gradient tensor matrix, take wherein absolute value it is the smallest
The corresponding feature vector of characteristic value is V1.Because of position vector and the smallest feature of absolute value that measurement point and magnetic target are formed
It is vertical to be worth corresponding feature vector, can obtain
V1·r1=0 (1)
By O, P0、P1Space geometry relationship, it is available using vector operation:
It is available afterwards to bring the equation in (2) formula into (1):
(3) feature vector V in formula1It can be obtained by measurement, vectorIt is known that position vector r can be expressed as (x0,
y0,z0).Therefore formula (3) is the ternary homogeneous linear equations for containing only unknown vector r.
During actual measurement, inevitably there is error.Firstly, the measurement of magnetic gradient tensor element is used based on micro-
Point difference approximation Equivalent Calculation, will lead to the feature vector of solution, there are errors.Then, sensor array structure installation is inclined
Difference, measures noise, and carrier magnetic interference etc. can equally impact calculating.Therefore, measurement point P1Point is formed with magnetic target A
Position vector feature vector corresponding with the gradient tensor the smallest characteristic value of matrix absolute value being calculated be not absolutely hang down
Directly,It is approximately equal toIt solvesThe minimum value of absolute value could accurately obtain x0,y0,z0。
To solve this problem, it enablesConstruct objective function are as follows:
F=max (| f1|) (4)
Using optimization algorithm to x in formula (4)0,y0And z0It optimizes, so that f is minimum, obtained x at this time0,y0And z0
Value be magnetic target A position.The optimization algorithm of solution formula (4) is needed exist for using heuristic value, wherein grain
It is best that subgroup optimization algorithm solves effect.
When concrete application, n measurement point P is selected in the magnetic field of magnetic target A1、P2、……PnMeasure magnetic target A's
Magnetic gradient tensor, gets f1、f2、……fn, building objective function f=max (| f1|,|f2|……|fn|), the magnetism acquired
The position of target A is more acurrate.Measurement point is more, and it is more accurate that the location parameter of magnetic target A solves, and measurement point is fewer, magnetic mesh
The location parameter solution for marking A is faster.
A kind of locating magnetic objects method of the present invention, has the following beneficial effects: compared with prior art
1. the present invention need to only measure the magnetic gradient tensor of 1 position, solution procedure is simple, and solving speed is fast, and convenient for real
It applies.
2. localization method of the invention, because being derived from using magnetic gradient tensor data, it is possible in ground magnetic environment
Middle application, and solving result is unique.
3. localization method of the invention is derived from, not by coordinate using the feature vector of magnetic gradient tensor Matrix Solving
It is the influence of transformation, can be applied to mobile platform.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the space schematic diagram of locating magnetic objects Method And Principle of the present invention.
Fig. 2 is cross magnetic gradient Tensor measuring system.
Fig. 3 particle swarm optimization algorithm effect picture.
The time of Fig. 4 particle swarm optimization algorithm consumption and optimal solution schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
Its embodiment belongs to the range that the present invention is protected.
Technical solution of the present invention is described in detail with reference to the accompanying drawing.
Embodiment 1
Cross magnetic gradient Tensor measuring system is denoted as respectively as shown in Fig. 2, there is 4 three axis fluxgate magnetometers in figure
1,2,3,4, wherein 2 and 4 center passes through x-axis, the centre distance between the two is also that the center that parallax range is L, 1 and 3 passes through y
Axis, the parallax range of the two are also L.Cartesian coordinate system is established using measuring system center as origin, three of vector magnetic meter
Axis is consistent with three axis directions of coordinate system.
Magnetic target A is located at P0Point, coordinate are (x0,y0,z0).Take measurement point P1For cross magnetic gradient Tensor measuring system
Center is origin, then P1Point coordinate is (0,0,0).Coordinate origin is to magnetic target P0The position vector of point is r, then P1Point arrives magnetic
The position vector of property target is
P1The corresponding feature vector of the point the smallest characteristic value of gradient tensor matrix absolute value is V1.Utilize measurement point and magnetism
The position vector feature vector corresponding with the smallest characteristic value of measurement point gradient tensor matrix absolute value that target is formed is approximate to hang down
Straight relationship can construct following equation: f in measurement point1=V1·(x0,y0,z0).Then objective function be f=max (| f1|)。
Objective function f is optimized by heuristic value, f obtains corresponding x when minimum value0,y0,z0As magnetic target
Position.
Embodiment 2: how objective function is solved
After the completion of objective function building, selects reasonable algorithm to be solved and be also very important.By testing, we
It was found that target function type (4) needs to be solved using heuristic value.And with population in heuristic value
It is best that optimization algorithm solves effect.Here it is illustrated by taking the objective function f that embodiment 1 constructs as an example.
One kind that PSO algorithm belongs to heuristic value is similar with simulated annealing, it is also from solving at random
Hair finds optimal solution by iteration, it is also the quality that solution is evaluated by fitness, it is arrived most by following current search
The figure of merit finds global optimum.This algorithm is realized with it to be easy, precision height, restrains the advantages that fast, in solving practical problems
Illustrate its superiority.
L takes 0.5m, sensor accuracy 0.1nT.Magnetic target location A be (- 30,20,30), magnetic away from amplitude be 1 ×
104Am2, magnetic takes away from the azimuth in directionInclination angle takesAssuming that the magnetic field of the earth is 5 × 104NT, geomagnetic inclination take 50 degree,
Geomagnetic declination takes -10 degree.In these cases, the objective function f solved to embodiment 1 is optimized.Particle swarm optimization algorithm
Effect of optimization it is as shown in Figure 3.The position coordinates that optimization algorithm solves the time and solution that use are as shown in Figure 4.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (4)
1. a kind of locating magnetic objects method, which comprises the following steps: magnetic target A is located at P0Point, magnetic target A
The magnetic field of generation is magnetostatic field, around without other magnetic sources；In P1The magnetic gradient tensor of magnetic target A, P are measured at point1Point coordinate
For (x1,y1,z1), P1The corresponding feature vector of the smallest characteristic value of magnetic gradient tensor matrix absolute value measured at point is V1, sit
Marking the position vector between origin O and magnetic target A is r, P1Position vector between point and magnetic target A is r1, position vector
r1It can be expressed as againUtilize measurement point P1Position vector and measurement point gradient between point and magnetic target A
The approximately perpendicular relationship of the corresponding feature vector of the smallest characteristic value of moment matrix absolute value, can obtain
Building objective function f=max (| f1|), using optimization algorithm to x in objective function f0,y0And z0It optimizes, so that f is minimum,
Obtained x at this time0,y0And z0Value be magnetic target A position.
2. a kind of locating magnetic objects method according to claim 1, which is characterized in that the optimization algorithm using
Heuristic value.
3. a kind of locating magnetic objects method according to claim 2, which is characterized in that the heuristic value is adopted
It is particle swarm optimization algorithm.
4. a kind of locating magnetic objects method according to claim 1 or 2 or 3, which is characterized in that magnetic target A's
N measurement point P is selected in magnetic field1、P2、……PnThe magnetic gradient tensor for measuring magnetic target A, gets f1、f2、……fn, structure
Build objective function f=max (| f1|,|f2|……|fn|), the position of the magnetic target A acquired is more acurrate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071047.XA CN109725360B (en) | 2019-01-25 | 2019-01-25 | Single-point positioning method based on invariant of magnetic gradient tensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910071047.XA CN109725360B (en) | 2019-01-25 | 2019-01-25 | Single-point positioning method based on invariant of magnetic gradient tensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109725360A true CN109725360A (en) | 2019-05-07 |
| CN109725360B CN109725360B (en) | 2020-06-09 |
Family
ID=66300284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910071047.XA Expired - Fee Related CN109725360B (en) | 2019-01-25 | 2019-01-25 | Single-point positioning method based on invariant of magnetic gradient tensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109725360B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333536A (en) * | 2019-07-22 | 2019-10-15 | 哈尔滨工程大学 | A kind of linear location algorithm of ranging |
| CN112050800A (en) * | 2020-08-19 | 2020-12-08 | 哈尔滨工程大学 | Magnetic gradient tensor positioning method based on B-shaped triaxial magnetometer symmetric configuration planar array |
| CN112362048A (en) * | 2020-11-12 | 2021-02-12 | 中国电子科技集团公司第三研究所 | Practical magnetic gradient tensor high-precision single-point positioning method |
| CN112902820A (en) * | 2021-01-21 | 2021-06-04 | 中北大学 | Pulse magnetic field generator device for measuring absolute displacement of urban underground space |
| CN113375549A (en) * | 2021-03-31 | 2021-09-10 | 华为技术有限公司 | Method, system and device for positioning guidance |
| CN113466327A (en) * | 2021-06-29 | 2021-10-01 | 西南石油大学 | Magnetic detection device and method for wall defects of petroleum storage tank |
| CN117784259A (en) * | 2024-02-23 | 2024-03-29 | 西安华舜测量设备有限责任公司 | Single-component magnetic field positioning method and positioning system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090039871A1 (en) * | 2004-12-01 | 2009-02-12 | Laforest Pierre | Procedure for location of mobile magnetic targets |
| CN102927981A (en) * | 2012-10-22 | 2013-02-13 | 中国船舶重工集团公司第七一〇研究所 | Method of locating magnetic target based on tri-axial vector magnetic sensor array |
| US20130226512A1 (en) * | 2012-02-23 | 2013-08-29 | Graham Mark McIntyre | Magneto-inductive positioning using a rotating magnetic field |
| CN105783919A (en) * | 2016-03-09 | 2016-07-20 | 哈尔滨工程大学 | Tracking and positioning method of H-shaped scalar sensor array on magnetic target |
| CN106405658A (en) * | 2016-08-30 | 2017-02-15 | 中国人民解放军海军工程大学 | Motion type magnetic target locating method based on vector magnetic gradiometer |
| CN106546235A (en) * | 2016-11-02 | 2017-03-29 | 哈尔滨工程大学 | A kind of locating magnetic objects method compensated based on carrier |
| CN108227005A (en) * | 2016-12-21 | 2018-06-29 | 中国科学院电子学研究所 | A kind of target positioning and recognition methods |
| CN108562945A (en) * | 2018-05-21 | 2018-09-21 | 中南大学 | A kind of localization method and its device of more magnetic movement objective bodies |
| CN108931241A (en) * | 2018-03-22 | 2018-12-04 | 南京理工大学 | Magnetic target one-point positioning method based on the total field gradient of magnetic and magnetic tensor modulus gradient |
-
2019
- 2019-01-25 CN CN201910071047.XA patent/CN109725360B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090039871A1 (en) * | 2004-12-01 | 2009-02-12 | Laforest Pierre | Procedure for location of mobile magnetic targets |
| US20130226512A1 (en) * | 2012-02-23 | 2013-08-29 | Graham Mark McIntyre | Magneto-inductive positioning using a rotating magnetic field |
| CN102927981A (en) * | 2012-10-22 | 2013-02-13 | 中国船舶重工集团公司第七一〇研究所 | Method of locating magnetic target based on tri-axial vector magnetic sensor array |
| CN105783919A (en) * | 2016-03-09 | 2016-07-20 | 哈尔滨工程大学 | Tracking and positioning method of H-shaped scalar sensor array on magnetic target |
| CN106405658A (en) * | 2016-08-30 | 2017-02-15 | 中国人民解放军海军工程大学 | Motion type magnetic target locating method based on vector magnetic gradiometer |
| CN106546235A (en) * | 2016-11-02 | 2017-03-29 | 哈尔滨工程大学 | A kind of locating magnetic objects method compensated based on carrier |
| CN108227005A (en) * | 2016-12-21 | 2018-06-29 | 中国科学院电子学研究所 | A kind of target positioning and recognition methods |
| CN108931241A (en) * | 2018-03-22 | 2018-12-04 | 南京理工大学 | Magnetic target one-point positioning method based on the total field gradient of magnetic and magnetic tensor modulus gradient |
| CN108562945A (en) * | 2018-05-21 | 2018-09-21 | 中南大学 | A kind of localization method and its device of more magnetic movement objective bodies |
Non-Patent Citations (5)
| Title |
|---|
| BULENT ORUC: ""Location and depth estimation of point-dipole and line of dipoles using analytic signals of the magnetic gradient tensor and magnitude of vector components"", 《JOURNAL OF APPLIED GEOPHYSICS》 * |
| 于振涛 等: ""基于磁梯度张量的目标定位改进方法"", 《系统工程与电子技术》 * |
| 尹刚 等: ""磁偶极子梯度张量的几何不变量及其应用"", 《地球物理学报》 * |
| 戴忠华 等: ""两点磁梯度张量定位方法"", 《探测与控制学报》 * |
| 迟铖 等: ""基于磁梯度张量的目标多测量点线性定位方法"", 《探测与控制学报》 * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333536A (en) * | 2019-07-22 | 2019-10-15 | 哈尔滨工程大学 | A kind of linear location algorithm of ranging |
| CN112050800A (en) * | 2020-08-19 | 2020-12-08 | 哈尔滨工程大学 | Magnetic gradient tensor positioning method based on B-shaped triaxial magnetometer symmetric configuration planar array |
| CN112362048A (en) * | 2020-11-12 | 2021-02-12 | 中国电子科技集团公司第三研究所 | Practical magnetic gradient tensor high-precision single-point positioning method |
| CN112902820A (en) * | 2021-01-21 | 2021-06-04 | 中北大学 | Pulse magnetic field generator device for measuring absolute displacement of urban underground space |
| CN112902820B (en) * | 2021-01-21 | 2022-12-06 | 中北大学 | Pulse magnetic field generator device for measuring absolute displacement of urban underground space |
| CN113375549A (en) * | 2021-03-31 | 2021-09-10 | 华为技术有限公司 | Method, system and device for positioning guidance |
| CN113466327A (en) * | 2021-06-29 | 2021-10-01 | 西南石油大学 | Magnetic detection device and method for wall defects of petroleum storage tank |
| CN117784259A (en) * | 2024-02-23 | 2024-03-29 | 西安华舜测量设备有限责任公司 | Single-component magnetic field positioning method and positioning system |
| CN117784259B (en) * | 2024-02-23 | 2024-05-14 | 西安华舜测量设备有限责任公司 | Single-component magnetic field positioning method and positioning system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109725360B (en) | 2020-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109725360A (en) | One-point positioning method based on magnetic gradient tensor invariant | |
| CN107272069B (en) | Magnetic target method for tracing based on magnetic anomaly gradient | |
| CN107544042B (en) | Magnetometer array correction method | |
| CN105783919B (en) | Tracking positioning method of the H-type scalar sensors array to magnetic target | |
| CN109725361B (en) | Magnetic target positioning method based on invariant of magnetic gradient tensor | |
| CN110146839A (en) | A kind of mobile platform magnetic gradient tensor system compensation method | |
| CN104535062A (en) | Movable type location method based on magnetic gradient tensor and geomagnetic vector measurement | |
| CN106546235B (en) | A kind of locating magnetic objects method based on carrier compensation | |
| CN109407159B (en) | Geomagnetic full-factor sensor attitude error correction method | |
| CN108227005A (en) | A kind of target positioning and recognition methods | |
| CN106323334B (en) | A kind of magnetometer calibration method based on particle group optimizing | |
| CN102252689A (en) | Electronic compass calibration method based on magnetic sensor | |
| CN106990440A (en) | A kind of submarine localization method based on magnetic field space gradient at two detecting locations | |
| CN107817457A (en) | A kind of design method of earth magnetism gradient tensor measurement array | |
| Pang et al. | Calibration of three-axis magnetometers with differential evolution algorithm | |
| CN107132587A (en) | The full tensor magnetic gradient measurements system mounting error calibration method of aviation superconduction and device | |
| Liu et al. | Compensation of geomagnetic vector measurement system with differential magnetic field method | |
| CN109633540B (en) | Real-time positioning system and real-time positioning method of magnetic source | |
| CN110736484A (en) | Background magnetic field calibration method based on fusion of gyroscope and magnetic sensor | |
| Liu et al. | Simplified ellipsoid fitting-based magnetometer calibration for pedestrian dead reckoning | |
| Jiang et al. | Scalar calibration of aeromagnetic data using BPANN and LS algorithms based on fixed-wing UAV platform | |
| Lin et al. | Improvement and omnidirectional analysis of magnetic gradient tensor invariants method | |
| CN109633539B (en) | Static positioning device and static positioning method for magnetic source | |
| CN109633541B (en) | Magnetic source positioning device and magnetic source positioning method | |
| CN103674000B (en) | Electronic compass real time calibration algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200609 Termination date: 20210125 |